2021-05-18T04:44:46.469Z,1621313086.469 [Supervisor](DEBUG): Initializing supervisor. 2021-05-18T04:44:46.474Z,1621313086.474 [SyncHandler](DEBUG): Created PCaller Thread at 404514E0 2021-05-18T04:44:46.475Z,1621313086.475 [SyncHandler](INFO): Protected caller Thread ID is 4943 2021-05-18T04:44:46.475Z,1621313086.475 [ComponentRegistry](DEBUG): Component "controlThread" handled in its own thread. 2021-05-18T04:44:46.476Z,1621313086.476 [controlThread ThreadHandler](DEBUG): Created PCaller Thread at 404814E0 2021-05-18T04:44:46.477Z,1621313086.477 [controlThread ThreadHandler](INFO): Protected caller Thread ID is 4944 2021-05-18T04:44:46.481Z,1621313086.481 [ComponentRegistry](DEBUG): SyncComponent "CycleStarter" handled in the control thread. 2021-05-18T04:44:46.500Z,1621313086.500 [ComponentRegistry](DEBUG): Component "CommandLine" handled in its own thread. 2021-05-18T04:44:46.501Z,1621313086.501 [CommandLine ThreadHandler](DEBUG): Created PCaller Thread at 404B14E0 2021-05-18T04:44:46.501Z,1621313086.501 [CommandLine ThreadHandler](INFO): Protected caller Thread ID is 4945 2021-05-18T04:44:46.503Z,1621313086.503 [ComponentRegistry](DEBUG): Component "logger" handled in its own thread. 2021-05-18T04:44:46.504Z,1621313086.504 [logger ThreadHandler](DEBUG): Created PCaller Thread at 404E14E0 2021-05-18T04:44:46.505Z,1621313086.505 [logger ThreadHandler](INFO): Protected caller Thread ID is 4946 2021-05-18T04:44:46.509Z,1621313086.509 [ComponentRegistry](DEBUG): SyncComponent "LogSplitter" handled in the control thread. 2021-05-18T04:44:46.509Z,1621313086.509 [Supervisor](INFO): Looking for Config files in directory: Config/ 2021-05-18T04:44:46.510Z,1621313086.510 [Supervisor](INFO): Opening Config file at: Config/Navigation.cfg 2021-05-18T04:44:46.746Z,1621313086.746 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Navigation 2021-05-18T04:44:46.747Z,1621313086.747 [Supervisor](INFO): Opening Config file at: Config/Guidance.cfg 2021-05-18T04:44:46.826Z,1621313086.826 [Supervisor](INFO): Opening Config file at: Config/Simulator.cfg 2021-05-18T04:44:47.322Z,1621313087.322 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Simulator 2021-05-18T04:44:47.322Z,1621313087.322 [Supervisor](INFO): Opening Config file at: Config/Control.cfg 2021-05-18T04:44:47.652Z,1621313087.652 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Control 2021-05-18T04:44:47.652Z,1621313087.652 [Supervisor](INFO): Opening Config file at: Config/secure.cfg 2021-05-18T04:44:47.747Z,1621313087.747 [ComponentRegistry](DEBUG): Loaded Config Component "Config/secure 2021-05-18T04:44:47.748Z,1621313087.748 [Supervisor](INFO): Opening Config file at: Config/Servo.cfg 2021-05-18T04:44:48.109Z,1621313088.109 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Servo 2021-05-18T04:44:48.110Z,1621313088.110 [Supervisor](INFO): Opening Config file at: Config/BIT.cfg 2021-05-18T04:44:48.306Z,1621313088.306 [ComponentRegistry](DEBUG): Loaded Config Component "Config/BIT 2021-05-18T04:44:48.307Z,1621313088.307 [Supervisor](INFO): Opening Config file at: Config/vehicle.cfg 2021-05-18T04:44:48.740Z,1621313088.740 [ComponentRegistry](DEBUG): Loaded Config Component "Config/vehicle 2021-05-18T04:44:48.741Z,1621313088.741 [Supervisor](INFO): Opening Config file at: Config/workSite.cfg 2021-05-18T04:44:48.865Z,1621313088.865 [ComponentRegistry](DEBUG): Loaded Config Component "Config/workSite 2021-05-18T04:44:48.866Z,1621313088.866 [Supervisor](INFO): Opening Config file at: Config/Sample.cfg 2021-05-18T04:44:48.944Z,1621313088.944 [Supervisor](INFO): Opening Config file at: Config/Sensor.cfg 2021-05-18T04:44:49.625Z,1621313089.625 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Sensor 2021-05-18T04:44:49.626Z,1621313089.626 [Supervisor](INFO): Opening Config file at: Config/Science.cfg 2021-05-18T04:44:49.985Z,1621313089.985 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Science 2021-05-18T04:44:49.985Z,1621313089.985 [Supervisor](INFO): Opening Config file at: Config/logger.cfg 2021-05-18T04:44:50.176Z,1621313090.176 [ComponentRegistry](DEBUG): Loaded Config Component "Config/logger 2021-05-18T04:44:50.176Z,1621313090.176 [Supervisor](INFO): Opening Config file at: Config/Estimation.cfg 2021-05-18T04:44:50.278Z,1621313090.278 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Estimation 2021-05-18T04:44:50.278Z,1621313090.278 [Supervisor](INFO): Opening Config file at: Config/Derivation.cfg 2021-05-18T04:44:50.428Z,1621313090.428 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Derivation 2021-05-18T04:44:50.428Z,1621313090.428 [Supervisor](INFO): Opening Config file at: Config/Dock.cfg 2021-05-18T04:44:50.815Z,1621313090.815 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Dock 2021-05-18T04:44:50.817Z,1621313090.817 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/ 2021-05-18T04:44:50.817Z,1621313090.817 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Navigation.cfg 2021-05-18T04:44:51.073Z,1621313091.073 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Simulator.cfg 2021-05-18T04:44:51.251Z,1621313091.251 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Control.cfg 2021-05-18T04:44:51.504Z,1621313091.504 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/secure.cfg 2021-05-18T04:44:51.587Z,1621313091.587 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Servo.cfg 2021-05-18T04:44:51.682Z,1621313091.682 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/BIT.cfg 2021-05-18T04:44:51.784Z,1621313091.784 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/vehicle.cfg 2021-05-18T04:44:51.980Z,1621313091.980 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/workSite.cfg 2021-05-18T04:44:52.055Z,1621313092.055 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Sensor.cfg 2021-05-18T04:44:52.214Z,1621313092.214 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Science.cfg 2021-05-18T04:44:52.353Z,1621313092.353 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/logger.cfg 2021-05-18T04:44:52.473Z,1621313092.473 [Supervisor](INFO): Opening Config file at: Config/lrauv-daphne/Battery.cfg 2021-05-18T04:44:52.732Z,1621313092.732 [ComponentRegistry](DEBUG): Loaded Config Component "Config/Battery 2021-05-18T04:44:52.733Z,1621313092.733 [Supervisor](INFO): Looking for Config files in directory: Config/lrauv-daphne/root/ 2021-05-18T04:44:52.734Z,1621313092.734 [Supervisor](IMPORTANT): Reading configuration overrides from Data/persisted.cfg 2021-05-18T04:44:52.739Z,1621313092.739 [Module Loader](DEBUG): Loading Module at Modules/Control.so 2021-05-18T04:44:52.791Z,1621313092.791 [VerticalControl](DEBUG): Construct VerticalControl. 2021-05-18T04:44:52.850Z,1621313092.850 [VerticalControl] Loaded 2021-05-18T04:44:52.850Z,1621313092.850 [ComponentRegistry](DEBUG): SyncComponent "VerticalControl" handled in the control thread. 2021-05-18T04:44:52.853Z,1621313092.853 [HorizontalControl](DEBUG): Construct HorizontalControl. 2021-05-18T04:44:52.890Z,1621313092.890 [HorizontalControl] Loaded 2021-05-18T04:44:52.891Z,1621313092.891 [ComponentRegistry](DEBUG): SyncComponent "HorizontalControl" handled in the control thread. 2021-05-18T04:44:52.893Z,1621313092.893 [SpeedControl](DEBUG): Construct SpeedControl. 2021-05-18T04:44:52.896Z,1621313092.896 [SpeedControl] Loaded 2021-05-18T04:44:52.896Z,1621313092.896 [ComponentRegistry](DEBUG): SyncComponent "SpeedControl" handled in the control thread. 2021-05-18T04:44:52.899Z,1621313092.899 [LoopControl](DEBUG): Construct LoopControl. 2021-05-18T04:44:52.899Z,1621313092.899 [LoopControl] Loaded 2021-05-18T04:44:52.899Z,1621313092.899 [ComponentRegistry](DEBUG): SyncComponent "LoopControl" handled in the control thread. 2021-05-18T04:44:52.900Z,1621313092.900 [Module Loader](DEBUG): Loaded Module: Control (Contains the Control components, such as Depth, Heading, and Speed Control) 2021-05-18T04:44:52.900Z,1621313092.900 [Module Loader](DEBUG): Loading Module at Modules/Sample.so 2021-05-18T04:44:52.911Z,1621313092.911 [Module Loader](DEBUG): Loaded Module: Sample (This is a Sample Module of Sample Components) 2021-05-18T04:44:52.912Z,1621313092.912 [Module Loader](DEBUG): Loading Module at Modules/Simulator.so 2021-05-18T04:44:53.010Z,1621313093.010 [Module Loader](DEBUG): Loaded Module: Simulator (This is the module containing the Simulator) 2021-05-18T04:44:53.010Z,1621313093.010 [Module Loader](DEBUG): Loading Module at Modules/Servo.so 2021-05-18T04:44:53.142Z,1621313093.142 [BuoyancyServo] Loaded 2021-05-18T04:44:53.143Z,1621313093.143 [ComponentRegistry](DEBUG): SyncComponent "BuoyancyServo" handled in the control thread. 2021-05-18T04:44:53.161Z,1621313093.161 [ElevatorServo] Loaded 2021-05-18T04:44:53.161Z,1621313093.161 [ComponentRegistry](DEBUG): SyncComponent "ElevatorServo" handled in the control thread. 2021-05-18T04:44:53.179Z,1621313093.179 [MassServo] Loaded 2021-05-18T04:44:53.179Z,1621313093.179 [ComponentRegistry](DEBUG): SyncComponent "MassServo" handled in the control thread. 2021-05-18T04:44:53.196Z,1621313093.196 [RudderServo] Loaded 2021-05-18T04:44:53.197Z,1621313093.197 [ComponentRegistry](DEBUG): SyncComponent "RudderServo" handled in the control thread. 2021-05-18T04:44:53.213Z,1621313093.213 [ThrusterServo] Loaded 2021-05-18T04:44:53.214Z,1621313093.214 [ComponentRegistry](DEBUG): SyncComponent "ThrusterServo" handled in the control thread. 2021-05-18T04:44:53.214Z,1621313093.214 [Module Loader](DEBUG): Loaded Module: Servo (This is the module containing motor controllers) 2021-05-18T04:44:53.214Z,1621313093.214 [Module Loader](DEBUG): Loading Module at Modules/Navigation.so 2021-05-18T04:44:53.292Z,1621313093.292 [DeadReckonUsingMultipleVelocitySources] Loaded 2021-05-18T04:44:53.292Z,1621313093.292 [ComponentRegistry](DEBUG): SyncComponent "DeadReckonUsingMultipleVelocitySources" handled in the control thread. 2021-05-18T04:44:53.305Z,1621313093.305 [NavChart] Loaded 2021-05-18T04:44:53.305Z,1621313093.305 [ComponentRegistry](DEBUG): SyncComponent "NavChart" handled in the control thread. 2021-05-18T04:44:53.310Z,1621313093.310 [UniversalFixResidualReporter] Loaded 2021-05-18T04:44:53.311Z,1621313093.311 [ComponentRegistry](DEBUG): SyncComponent "UniversalFixResidualReporter" handled in the control thread. 2021-05-18T04:44:53.311Z,1621313093.311 [Module Loader](DEBUG): Loaded Module: Navigation (Contains the base navigation components) 2021-05-18T04:44:53.312Z,1621313093.312 [Module Loader](DEBUG): Loading Module at Modules/Estimation.so 2021-05-18T04:44:53.366Z,1621313093.366 [Module Loader](DEBUG): Loaded Module: Estimation (Contains the base estimation components) 2021-05-18T04:44:53.366Z,1621313093.366 [Module Loader](DEBUG): Loading Module at Modules/Sensor.so 2021-05-18T04:44:53.730Z,1621313093.730 [AHRS_M2] Loaded 2021-05-18T04:44:53.730Z,1621313093.730 [ComponentRegistry](DEBUG): SyncComponent "AHRS_M2" handled in the control thread. 2021-05-18T04:44:54.502Z,1621313094.502 [BPC1] Loaded 2021-05-18T04:44:54.502Z,1621313094.502 [ComponentRegistry](DEBUG): SyncComponent "BPC1" handled in the control thread. 2021-05-18T04:44:54.574Z,1621313094.574 [DataOverHttps] Loaded 2021-05-18T04:44:54.574Z,1621313094.574 [ComponentRegistry](DEBUG): Component "DataOverHttps" handled in its own thread. 2021-05-18T04:44:54.575Z,1621313094.575 [DataOverHttps ThreadHandler](DEBUG): Created PCaller Thread at 4087D4E0 2021-05-18T04:44:54.575Z,1621313094.575 [DataOverHttps ThreadHandler](INFO): Protected caller Thread ID is 5031 2021-05-18T04:44:54.595Z,1621313094.595 [Depth_Keller] Loaded 2021-05-18T04:44:54.595Z,1621313094.595 [ComponentRegistry](DEBUG): SyncComponent "Depth_Keller" handled in the control thread. 2021-05-18T04:44:54.652Z,1621313094.652 [NAL9602] Loaded 2021-05-18T04:44:54.652Z,1621313094.652 [ComponentRegistry](DEBUG): SyncComponent "NAL9602" handled in the control thread. 2021-05-18T04:44:54.680Z,1621313094.680 [Onboard] Loaded 2021-05-18T04:44:54.680Z,1621313094.680 [ComponentRegistry](DEBUG): Component "Onboard" handled in its own thread. 2021-05-18T04:44:54.681Z,1621313094.681 [Onboard ThreadHandler](DEBUG): Created PCaller Thread at 408AD4E0 2021-05-18T04:44:54.682Z,1621313094.682 [Onboard ThreadHandler](INFO): Protected caller Thread ID is 5032 2021-05-18T04:44:54.694Z,1621313094.694 [Power24vConverter] Loaded 2021-05-18T04:44:54.694Z,1621313094.694 [ComponentRegistry](DEBUG): SyncComponent "Power24vConverter" handled in the control thread. 2021-05-18T04:44:54.706Z,1621313094.706 [Radio_Surface] Loaded 2021-05-18T04:44:54.706Z,1621313094.706 [ComponentRegistry](DEBUG): Component "Radio_Surface" handled in its own thread. 2021-05-18T04:44:54.708Z,1621313094.708 [Radio_Surface ThreadHandler](DEBUG): Created PCaller Thread at 408DD4E0 2021-05-18T04:44:54.708Z,1621313094.708 [Radio_Surface ThreadHandler](INFO): Protected caller Thread ID is 5033 2021-05-18T04:44:54.728Z,1621313094.728 [AMEcho] Loaded 2021-05-18T04:44:54.728Z,1621313094.728 [ComponentRegistry](DEBUG): SyncComponent "AMEcho" handled in the control thread. 2021-05-18T04:44:54.807Z,1621313094.807 [DAT] Loaded 2021-05-18T04:44:54.807Z,1621313094.807 [ComponentRegistry](DEBUG): SyncComponent "DAT" handled in the control thread. 2021-05-18T04:44:54.808Z,1621313094.808 [Module Loader](DEBUG): Loaded Module: Sensor (Contains the sensor components) 2021-05-18T04:44:54.808Z,1621313094.808 [Module Loader](DEBUG): Loading Module at Modules/Derivation.so 2021-05-18T04:44:54.848Z,1621313094.848 [DepthRateCalculator] Loaded 2021-05-18T04:44:54.849Z,1621313094.849 [ComponentRegistry](DEBUG): SyncComponent "DepthRateCalculator" handled in the control thread. 2021-05-18T04:44:54.853Z,1621313094.853 [PitchRateCalculator] Loaded 2021-05-18T04:44:54.854Z,1621313094.854 [ComponentRegistry](DEBUG): SyncComponent "PitchRateCalculator" handled in the control thread. 2021-05-18T04:44:54.862Z,1621313094.862 [SpeedCalculator] Loaded 2021-05-18T04:44:54.863Z,1621313094.863 [ComponentRegistry](DEBUG): SyncComponent "SpeedCalculator" handled in the control thread. 2021-05-18T04:44:54.876Z,1621313094.876 [TempGradientCalculator] Loaded 2021-05-18T04:44:54.876Z,1621313094.876 [ComponentRegistry](DEBUG): SyncComponent "TempGradientCalculator" handled in the control thread. 2021-05-18T04:44:54.881Z,1621313094.881 [YawRateCalculator] Loaded 2021-05-18T04:44:54.881Z,1621313094.881 [ComponentRegistry](DEBUG): SyncComponent "YawRateCalculator" handled in the control thread. 2021-05-18T04:44:54.898Z,1621313094.898 [ElevatorOffsetCalculator] Loaded 2021-05-18T04:44:54.898Z,1621313094.898 [ComponentRegistry](DEBUG): SyncComponent "ElevatorOffsetCalculator" handled in the control thread. 2021-05-18T04:44:54.899Z,1621313094.899 [Module Loader](DEBUG): Loaded Module: Derivation (Contains the base derivation components) 2021-05-18T04:44:54.899Z,1621313094.899 [Module Loader](DEBUG): Loading Module at Modules/Science.so 2021-05-18T04:44:55.066Z,1621313095.066 [CTD_Seabird] Loaded 2021-05-18T04:44:55.066Z,1621313095.066 [ComponentRegistry](DEBUG): Component "CTD_Seabird" handled in its own thread. 2021-05-18T04:44:55.067Z,1621313095.067 [CTD_Seabird ThreadHandler](DEBUG): Created PCaller Thread at 409904E0 2021-05-18T04:44:55.067Z,1621313095.067 [CTD_Seabird ThreadHandler](INFO): Protected caller Thread ID is 5034 2021-05-18T04:44:55.086Z,1621313095.086 [PAR_Licor] Loaded 2021-05-18T04:44:55.087Z,1621313095.087 [ComponentRegistry](DEBUG): SyncComponent "PAR_Licor" handled in the control thread. 2021-05-18T04:44:55.117Z,1621313095.117 [WetLabsBB2FL] Loaded 2021-05-18T04:44:55.118Z,1621313095.118 [ComponentRegistry](DEBUG): Component "WetLabsBB2FL" handled in its own thread. 2021-05-18T04:44:55.119Z,1621313095.119 [WetLabsBB2FL ThreadHandler](DEBUG): Created PCaller Thread at 409C04E0 2021-05-18T04:44:55.119Z,1621313095.119 [WetLabsBB2FL ThreadHandler](INFO): Protected caller Thread ID is 5035 2021-05-18T04:44:55.120Z,1621313095.120 [Module Loader](DEBUG): Loaded Module: Science (Contains the science components) 2021-05-18T04:44:55.120Z,1621313095.120 [Module Loader](DEBUG): Loading Module at Modules/Trigger.so 2021-05-18T04:44:55.148Z,1621313095.148 [Module Loader](DEBUG): Loaded Module: Trigger (Contains triggers for use in missions) 2021-05-18T04:44:55.148Z,1621313095.148 [Module Loader](DEBUG): Loading Module at Modules/Guidance.so 2021-05-18T04:44:55.456Z,1621313095.456 [Module Loader](DEBUG): Loaded Module: Guidance (Contains behaviors and commands) 2021-05-18T04:44:55.456Z,1621313095.456 [Module Loader](DEBUG): Loading Module at Modules/BIT.so 2021-05-18T04:44:55.598Z,1621313095.598 [SBIT](DEBUG): Construct Startup Built In Test. 2021-05-18T04:44:55.607Z,1621313095.607 [SBIT] Loaded 2021-05-18T04:44:55.607Z,1621313095.607 [ComponentRegistry](DEBUG): SyncComponent "SBIT" handled in the control thread. 2021-05-18T04:44:55.610Z,1621313095.610 [IBIT](DEBUG): Construct Initiated Built In Test. 2021-05-18T04:44:55.622Z,1621313095.622 [IBIT] Loaded 2021-05-18T04:44:55.623Z,1621313095.623 [ComponentRegistry](DEBUG): SyncComponent "IBIT" handled in the control thread. 2021-05-18T04:44:55.628Z,1621313095.628 [CBIT](DEBUG): Construct Continuous Built In Test. 2021-05-18T04:44:55.727Z,1621313095.727 [CBIT] Loaded 2021-05-18T04:44:55.727Z,1621313095.727 [ComponentRegistry](DEBUG): SyncComponent "CBIT" handled in the control thread. 2021-05-18T04:44:55.727Z,1621313095.727 [Module Loader](DEBUG): Loaded Module: BIT (Contains the BuiltInTest components, such as C Built In Test) 2021-05-18T04:44:55.728Z,1621313095.728 [Module Loader](DEBUG): Loading Module at Modules/Dock.so 2021-05-18T04:44:55.814Z,1621313095.814 [Module Loader](DEBUG): Loaded Module: Dock (Contains behaviors and commands for docking) 2021-05-18T04:44:55.873Z,1621313095.873 [ComponentRegistry](DEBUG): SyncComponent "MissionManager" handled in the control thread. 2021-05-18T04:44:55.876Z,1621313095.876 [ComponentRegistry](DEBUG): SyncComponent "Reporter" handled in the control thread. 2021-05-18T04:44:55.894Z,1621313095.894 [ComponentRegistry](DEBUG): Component "NavChartDb" handled in its own thread. 2021-05-18T04:44:55.905Z,1621313095.905 [NavChartDb ThreadHandler](DEBUG): Created PCaller Thread at 40AF14E0 2021-05-18T04:44:55.905Z,1621313095.905 [NavChartDb ThreadHandler](INFO): Protected caller Thread ID is 5036 2021-05-18T04:44:55.910Z,1621313095.910 [Supervisor](INFO): Main Thread ID is 4780 2021-05-18T04:44:55.910Z,1621313095.910 [Supervisor](DEBUG): Running supervisor. 2021-05-18T04:44:55.911Z,1621313095.911 [CommandLine ThreadHandler](INFO): Handler Thread ID is 5037 2021-05-18T04:44:55.913Z,1621313095.913 [controlThread ThreadHandler](INFO): Handler Thread ID is 5038 2021-05-18T04:44:55.913Z,1621313095.913 [controlThread](DEBUG): Initializing ControlThread 2021-05-18T04:44:55.914Z,1621313095.914 [VerticalControl](DEBUG): Initialize VerticalControlComponent. 2021-05-18T04:44:55.916Z,1621313095.916 [HorizontalControl](DEBUG): Initialize HorizontalControlComponent. 2021-05-18T04:44:55.917Z,1621313095.917 [SpeedControl](DEBUG): Initialize SpeedControlComponent. 2021-05-18T04:44:55.917Z,1621313095.917 [LoopControl](DEBUG): Initialize LoopControlComponent. 2021-05-18T04:44:55.919Z,1621313095.919 [NavChart](DEBUG): Initialize NavChart Navigation. 2021-05-18T04:44:55.919Z,1621313095.919 [UniversalFixResidualReporter](DEBUG): Initializing UniversalFixResidualReporter component. 2021-05-18T04:44:55.924Z,1621313095.924 [DepthRateCalculator](DEBUG): Initializing DepthRateCalculator. 2021-05-18T04:44:55.924Z,1621313095.924 [PitchRateCalculator](DEBUG): Initializing PitchRateCalculator. 2021-05-18T04:44:55.925Z,1621313095.925 [SpeedCalculator](DEBUG): Initializing SpeedCalculator. 2021-05-18T04:44:55.925Z,1621313095.925 [TempGradientCalculator](DEBUG): Initializing TempGradientCalculator. 2021-05-18T04:44:55.926Z,1621313095.926 [YawRateCalculator](DEBUG): Initializing YawRateCalculator. 2021-05-18T04:44:55.926Z,1621313095.926 [ElevatorOffsetCalculator](DEBUG): Initializing ElevatorOffsetCalculator. 2021-05-18T04:44:55.931Z,1621313095.931 [SBIT](INFO): Initialize SBIT Component. 2021-05-18T04:44:55.932Z,1621313095.932 [SBIT](IMPORTANT): git: 2021-05-10 2021-05-18T04:44:55.932Z,1621313095.932 [SBIT](INFO): git hash: 03112e3e75aba085c15f5826cf8e252bb5a4e5aa 2021-05-18T04:44:55.932Z,1621313095.932 [SBIT](IMPORTANT): Kernel Release: 2.6.27.8 2021-05-18T04:44:55.933Z,1621313095.933 [SBIT](INFO): Kernel Reporting Different Version From Configuration. Kernel Expected: #2 PREEMPT Thu Jan 11 20:13:48 PST 2018 Kernel Reported: #1 PREEMPT Wed Nov 13 12:38:10 PST 2019 2021-05-18T04:44:55.934Z,1621313095.934 [SBIT](INFO): Beginning SBIT in 57.000000 seconds. 2021-05-18T04:44:55.935Z,1621313095.935 [IBIT](INFO): Initialize IBIT Component. 2021-05-18T04:44:55.936Z,1621313095.936 [CBIT](DEBUG): Initialize CBIT Component. 2021-05-18T04:44:55.937Z,1621313095.937 [logger ThreadHandler](INFO): Handler Thread ID is 5039 2021-05-18T04:44:55.947Z,1621313095.947 [CBIT](DEBUG): Initialized mux pins. 2021-05-18T04:44:55.947Z,1621313095.947 [CBIT](DEBUG): Initializing the watchdog timer. 2021-05-18T04:44:55.960Z,1621313095.960 [DataOverHttps ThreadHandler](INFO): Handler Thread ID is 5040 2021-05-18T04:44:55.961Z,1621313095.961 [DataOverHttps](DEBUG): dashIP=134.89.2.23 starts with a digit so assuming it is a numeric IP 2021-05-18T04:44:55.964Z,1621313095.964 [Onboard ThreadHandler](INFO): Handler Thread ID is 5041 2021-05-18T04:44:55.964Z,1621313095.964 [Radio_Surface ThreadHandler](INFO): Handler Thread ID is 5042 2021-05-18T04:44:55.972Z,1621313095.972 [CBIT](INFO): Last reboot was NOT due to watchdog timer. 2021-05-18T04:44:55.977Z,1621313095.977 [CBIT](DEBUG): Initializing heartbeat. 2021-05-18T04:44:56.017Z,1621313096.017 [CTD_Seabird ThreadHandler](INFO): Handler Thread ID is 5043 2021-05-18T04:44:56.026Z,1621313096.026 [CTD_Seabird](DEBUG): Initializing CTD_Seabird. 2021-05-18T04:44:56.028Z,1621313096.028 [WetLabsBB2FL ThreadHandler](INFO): Handler Thread ID is 5045 2021-05-18T04:44:56.047Z,1621313096.047 [CBIT](DEBUG): Deactivating GF circuits. 2021-05-18T04:44:56.047Z,1621313096.047 [CBIT](DEBUG): Deactivating emergency mode. 2021-05-18T04:44:56.055Z,1621313096.055 [WetLabsBB2FL](INFO): Powering up 2021-05-18T04:44:56.056Z,1621313096.056 [NavChartDb ThreadHandler](INFO): Handler Thread ID is 5046 2021-05-18T04:44:56.059Z,1621313096.059 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US1WC07M.000 2021-05-18T04:44:56.060Z,1621313096.060 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US1WC07M.000 2021-05-18T04:44:56.060Z,1621313096.060 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US2WC11M.000 2021-05-18T04:44:56.060Z,1621313096.060 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US2WC11M.000 2021-05-18T04:44:56.060Z,1621313096.060 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US3CA52M.000 2021-05-18T04:44:56.060Z,1621313096.060 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US3CA52M.000 2021-05-18T04:44:56.061Z,1621313096.061 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US4CA60M.000 2021-05-18T04:44:56.061Z,1621313096.061 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US4CA60M.000 2021-05-18T04:44:56.061Z,1621313096.061 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA50M.000 2021-05-18T04:44:56.061Z,1621313096.061 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA50M.000 2021-05-18T04:44:56.061Z,1621313096.061 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA61M.000 2021-05-18T04:44:56.061Z,1621313096.061 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA61M.000 2021-05-18T04:44:56.062Z,1621313096.062 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA62M.000 2021-05-18T04:44:56.062Z,1621313096.062 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA62M.000 2021-05-18T04:44:56.062Z,1621313096.062 [NavChartDb](INFO): Looking for Electronic Nav Chart file at: Resources/ElectronicNavigationCharts/US5CA83M.000 2021-05-18T04:44:56.062Z,1621313096.062 [NavChartDb](INFO): Already Loaded Electronic Nav Chart data from US5CA83M.000 2021-05-18T04:44:56.087Z,1621313096.087 [CBIT](DEBUG): Backplane powered. 2021-05-18T04:44:56.088Z,1621313096.088 [MissionManager](INFO): Loading Mission: Missions/Startup.xml 2021-05-18T04:44:56.101Z,1621313096.101 [Startup:A.GoToSurface](DEBUG): Construct GoToSurface. 2021-05-18T04:44:56.135Z,1621313096.135 [MissionManager](DEBUG): 2021-05-18T04:44:56.136Z,1621313096.136 [MissionManager](INFO): Loading Mission: Missions/Default.xml 2021-05-18T04:44:56.249Z,1621313096.249 [MissionManager](INFO): DefineArg Default.ElapsedSinceDefaultStarted = 0.000000 min 2021-05-18T04:44:56.250Z,1621313096.250 [Default:A.Wait](DEBUG): Construct Wait. 2021-05-18T04:44:56.269Z,1621313096.269 [Default:B.GoToSurface](DEBUG): Construct GoToSurface. 2021-05-18T04:44:56.287Z,1621313096.287 [Default:CheckIn:Read_Iridium:A_Timeout:A.Execute](DEBUG): Construct Execute. 2021-05-18T04:44:56.313Z,1621313096.313 [Default:CheckIn:C.Wait](DEBUG): Construct Wait. 2021-05-18T04:44:56.333Z,1621313096.333 [Default:E.Execute](DEBUG): Construct Execute. 2021-05-18T04:44:56.337Z,1621313096.337 [MissionManager](DEBUG): 0 Wait a moment to see if the scheduler starts a new mission before starting to actually run Default. 13 Burn on Dropped weight due to communications timeout. 5 Default mission has been running for Restarting logs and Default mission. restart logs 2021-05-18T04:44:56.343Z,1621313096.343 [controlThread](DEBUG): Component order: CycleStarter,AHRS_M2,BPC1,Depth_Keller,NAL9602,Power24vConverter,AMEcho,DAT,PAR_Licor,Depth_Keller,PAR_Licor,DepthRateCalculator,PitchRateCalculator,SpeedCalculator,TempGradientCalculator,YawRateCalculator,ElevatorOffsetCalculator,DeadReckonUsingMultipleVelocitySources,NavChart,UniversalFixResidualReporter,MissionManager,VerticalControl,HorizontalControl,SpeedControl,LoopControl,BuoyancyServo,ElevatorServo,MassServo,RudderServo,ThrusterServo,SBIT,IBIT,CBIT,Reporter,LogSplitter, 2021-05-18T04:44:56.352Z,1621313096.352 [AHRS_M2](DEBUG): Initializing AHRS_M2. 2021-05-18T04:44:56.367Z,1621313096.367 [Radio_Surface](INFO): Powering up 2021-05-18T04:44:56.420Z,1621313096.420 [Depth_Keller](ERROR): Pressure reading out of range: 1831.023193 decibar 2021-05-18T04:44:56.421Z,1621313096.421 [Power24vConverter](INFO): Powering down. 2021-05-18T04:44:56.421Z,1621313096.421 [AMEcho](INFO): Powering up. 2021-05-18T04:44:56.491Z,1621313096.491 [DAT](INFO): Powering up 2021-05-18T04:44:56.491Z,1621313096.491 [DAT](DEBUG): Initializing DAT. 2021-05-18T04:44:56.643Z,1621313096.643 [DepthRateCalculator](ERROR): Depth measurement is not active 2021-05-18T04:44:56.669Z,1621313096.669 [BuoyancyServo](DEBUG): Initializing EZServoServo. 2021-05-18T04:44:56.675Z,1621313096.675 [BuoyancyServo](DEBUG): Initializing BuoyancyServo. 2021-05-18T04:44:56.676Z,1621313096.676 [ElevatorServo](DEBUG): Initializing EZServoServo. 2021-05-18T04:44:56.683Z,1621313096.683 [ElevatorServo](DEBUG): Initializing ElevatorServo. 2021-05-18T04:44:56.684Z,1621313096.684 [MassServo](DEBUG): Initializing EZServoServo. 2021-05-18T04:44:56.691Z,1621313096.691 [MassServo](DEBUG): Initializing MassServo. 2021-05-18T04:44:56.692Z,1621313096.692 [RudderServo](DEBUG): Initializing EZServoServo. 2021-05-18T04:44:56.699Z,1621313096.699 [RudderServo](DEBUG): Initializing RudderServo. 2021-05-18T04:44:56.700Z,1621313096.700 [ThrusterServo](DEBUG): Initializing EZServoServo. 2021-05-18T04:44:56.707Z,1621313096.707 [ThrusterServo](DEBUG): Initializing ThrusterServo. 2021-05-18T04:44:57.035Z,1621313097.035 [AMEcho](INFO): Powering down. 2021-05-18T04:44:57.160Z,1621313097.160 [Power24vConverter](INFO): Powering up. 2021-05-18T04:44:57.511Z,1621313097.511 [RudderServo](ERROR): Rudder initialization uart error serial timeout 2021-05-18T04:44:57.511Z,1621313097.511 [RudderServo](FAULT): Rudder failed to initialize 2021-05-18T04:44:57.511Z,1621313097.511 [RudderServo] Communications Fault, FailCount= 1 2021-05-18T04:44:57.511Z,1621313097.511 [RudderServo](ERROR): Communications Fault 2021-05-18T04:44:57.611Z,1621313097.611 [CBIT](ERROR): Communications Fault in component: RudderServo 2021-05-18T04:44:57.621Z,1621313097.621 [AMEcho](IMPORTANT): Setting 'depthThreshold' to 20.000000 2021-05-18T04:44:57.812Z,1621313097.812 [RudderServo](DEBUG): Uninitialize Rudder Servo. 2021-05-18T04:44:57.812Z,1621313097.812 [RudderServo](INFO): Powering down 2021-05-18T04:44:58.147Z,1621313098.147 [WetLabsBB2FL](INFO): Powering down 2021-05-18T04:44:58.443Z,1621313098.443 [RudderServo](DEBUG): Initializing EZServoServo. 2021-05-18T04:44:58.564Z,1621313098.564 [RudderServo](DEBUG): Initializing RudderServo. 2021-05-18T04:44:58.568Z,1621313098.568 [CBIT](INFO): Clearing failed state for component RudderServo 2021-05-18T04:44:58.568Z,1621313098.568 [RudderServo] No Fault, FailCount= 1 2021-05-18T04:45:04.056Z,1621313104.056 [CTD_Seabird](ERROR): Device message queue exceeded the allowed limit. 2021-05-18T04:45:24.688Z,1621313124.688 [NAL9602](INFO): Powering up NAL9602 2021-05-18T04:45:35.596Z,1621313135.596 [NAL9602](INFO): NAL9602 initialized 2021-05-18T04:45:53.405Z,1621313153.405 [SBIT](IMPORTANT): Beginning Startup BIT 2021-05-18T04:45:53.409Z,1621313153.409 [CBIT](IMPORTANT): Beginning ground fault scan 2021-05-18T04:45:56.613Z,1621313156.613 [DAT](FAULT): failed to initialize, no bytes available on serial interface 2021-05-18T04:45:56.613Z,1621313156.613 [DAT] Communications Fault, FailCount= 1 2021-05-18T04:45:56.614Z,1621313156.614 [DAT](ERROR): Communications Fault 2021-05-18T04:45:56.784Z,1621313156.784 [CBIT](ERROR): Communications Fault in component: DAT 2021-05-18T04:45:57.048Z,1621313157.048 [DAT](INFO): Powering down 2021-05-18T04:45:57.829Z,1621313157.829 [Power24vConverter](INFO): Powering down. 2021-05-18T04:45:57.951Z,1621313157.951 [CBIT](INFO): Clearing failed state for component DAT 2021-05-18T04:45:57.951Z,1621313157.951 [DAT] No Fault, FailCount= 1 2021-05-18T04:45:58.629Z,1621313158.629 [Power24vConverter](INFO): Powering up. 2021-05-18T04:46:00.264Z,1621313160.264 [DAT](INFO): Powering up 2021-05-18T04:46:00.264Z,1621313160.264 [DAT](DEBUG): Initializing DAT. 2021-05-18T04:46:04.339Z,1621313164.339 [CBIT](IMPORTANT): Ground fault detected mA: CHAN A0 (Batt): 0.017302 CHAN A1 (24V): 0.000403 CHAN A2 (12V): -0.002073 CHAN A3 (5V): -0.001344 CHAN B0 (3.3V): 0.000117 CHAN B1 (3.15aV): 4.767929 CHAN B2 (3.15bV): -0.000308 CHAN B3 (GND): -0.000004 OPEN: -0.000447 Full Scale Calc: 4.765 mA, -1.589 mA 2021-05-18T04:46:47.551Z,1621313207.551 [SBIT](IMPORTANT): SBIT PASSED 2021-05-18T04:46:47.551Z,1621313207.551 [SBIT](IMPORTANT): Listing configuration overrides from Data/persisted.cfg 2021-05-18T04:46:47.552Z,1621313207.552 [SBIT](IMPORTANT): DAT.verbosity=3 count; 2021-05-18T04:46:47.552Z,1621313207.552 [SBIT](IMPORTANT): DropWeight.loadAtStartup=0 bool; 2021-05-18T04:46:47.552Z,1621313207.552 [SBIT](IMPORTANT): VerticalControl.buoyancyNeutral=282 cubic_centimeter; 2021-05-18T04:46:47.552Z,1621313207.552 [SBIT](IMPORTANT): VerticalControl.massDefault=9.25 millimeter; 2021-05-18T04:46:47.949Z,1621313207.949 [MissionManager](IMPORTANT): Started mission Startup 2021-05-18T04:46:47.949Z,1621313207.949 [Startup] Running Loop=1 2021-05-18T04:46:47.949Z,1621313207.949 [Startup](DEBUG): Aggregate::initialize Startup 2021-05-18T04:46:47.949Z,1621313207.949 [Startup:A.GoToSurface] Running Loop=1 2021-05-18T04:46:47.949Z,1621313207.949 [Startup:A.GoToSurface](DEBUG): Initialize GoToSurfaceComponent. 2021-05-18T04:46:47.950Z,1621313207.950 [Startup:A.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s. 2021-05-18T04:46:47.950Z,1621313207.950 [Startup:A.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees. 2021-05-18T04:46:47.951Z,1621313207.951 [Startup:A.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s. 2021-05-18T04:46:47.951Z,1621313207.951 [Startup:A.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds. 2021-05-18T04:46:47.952Z,1621313207.952 [Startup:A.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds. 2021-05-18T04:46:47.953Z,1621313207.953 [Startup:StartupSatComms] Running Loop=1 2021-05-18T04:46:47.953Z,1621313207.953 [Startup:StartupSatComms](DEBUG): Aggregate::initialize Startup:StartupSatComms 2021-05-18T04:46:47.953Z,1621313207.953 [Startup:StartupSatComms:A] Running Loop=1 2021-05-18T04:46:48.336Z,1621313208.336 [Startup:StartupSatComms:A](DEBUG): Initialize ReadDataComponent to sense latitude_fix 2021-05-18T04:46:48.733Z,1621313208.733 [AMEcho](INFO): Powering up. 2021-05-18T04:46:49.036Z,1621313209.036 [CommandLine](IMPORTANT): got command failComponent 2021-05-18T04:46:49.036Z,1621313209.036 [CommandLine](IMPORTANT): Failed components: 2021-05-18T04:46:49.036Z,1621313209.036 [CommandLine](IMPORTANT): No failed Components. 2021-05-18T04:47:00.442Z,1621313220.442 [DAT](FAULT): failed to initialize, no bytes available on serial interface 2021-05-18T04:47:00.442Z,1621313220.442 [DAT] Communications Fault, FailCount= 2 2021-05-18T04:47:00.442Z,1621313220.442 [DAT](ERROR): Communications Fault 2021-05-18T04:47:00.491Z,1621313220.491 [CBIT](ERROR): Communications Fault in component: DAT 2021-05-18T04:47:00.849Z,1621313220.849 [DAT](INFO): Powering down 2021-05-18T04:47:01.677Z,1621313221.677 [CBIT](INFO): Clearing failed state for component DAT 2021-05-18T04:47:01.677Z,1621313221.677 [DAT] No Fault, FailCount= 2 2021-05-18T04:47:04.078Z,1621313224.078 [DAT](INFO): Powering up 2021-05-18T04:47:04.078Z,1621313224.078 [DAT](DEBUG): Initializing DAT. 2021-05-18T04:47:38.957Z,1621313258.957 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.004843 2021-05-18T04:47:48.141Z,1621313268.141 [Startup:StartupSatComms:A](INFO): Timed out from 2021-05-18T04:46:47.0Z 2021-05-18T04:47:48.141Z,1621313268.141 [Startup:StartupSatComms:A] Stopped 2021-05-18T04:47:48.141Z,1621313268.141 [Startup:StartupSatComms:B] Running Loop=1 2021-05-18T04:47:48.526Z,1621313268.526 [Startup:StartupSatComms:B](DEBUG): Initialize ReadDataComponent to sense platform_communications 2021-05-18T04:47:54.304Z,1621313274.304 [CommandLine](IMPORTANT): got command failComponent 2021-05-18T04:47:54.304Z,1621313274.304 [CommandLine](IMPORTANT): Failed components: 2021-05-18T04:47:54.304Z,1621313274.304 [CommandLine](IMPORTANT): No failed Components. 2021-05-18T04:47:55.306Z,1621313275.306 [DataOverHttps](INFO): Sending 38 bytes from file Logs/20210518T043000/Courier0003.lzma 2021-05-18T04:47:56.214Z,1621313276.214 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 1 2021-05-18T04:47:56.214Z,1621313276.214 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault 2021-05-18T04:47:56.224Z,1621313276.224 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources 2021-05-18T04:47:56.309Z,1621313276.309 [DataOverHttps](INFO): Moved sent file to Logs/20210518T043000/Courier0003.lzma.bak 2021-05-18T04:47:56.309Z,1621313276.309 [DataOverHttps](INFO): SBD MOMSN=15648555 2021-05-18T04:47:56.614Z,1621313276.614 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources 2021-05-18T04:47:56.614Z,1621313276.614 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 1 2021-05-18T04:48:04.290Z,1621313284.290 [DAT](FAULT): failed to initialize, no bytes available on serial interface 2021-05-18T04:48:04.290Z,1621313284.290 [DAT] Communications Fault, FailCount= 3 2021-05-18T04:48:04.290Z,1621313284.290 [DAT](ERROR): Communications Fault 2021-05-18T04:48:04.335Z,1621313284.335 [CBIT](ERROR): Communications Fault in component: DAT 2021-05-18T04:48:04.737Z,1621313284.737 [DAT](INFO): Powering down 2021-05-18T04:48:05.549Z,1621313285.549 [CBIT](INFO): Clearing failed state for component DAT 2021-05-18T04:48:05.549Z,1621313285.549 [DAT] No Fault, FailCount= 3 2021-05-18T04:48:07.905Z,1621313287.905 [DAT](INFO): Powering up 2021-05-18T04:48:07.906Z,1621313287.906 [DAT](DEBUG): Initializing DAT. 2021-05-18T04:48:11.710Z,1621313291.710 [DataOverHttps](INFO): Sending 151 bytes from file Logs/20210518T044446/Courier0000.lzma 2021-05-18T04:48:12.713Z,1621313292.713 [DataOverHttps](INFO): Moved sent file to Logs/20210518T044446/Courier0000.lzma.bak 2021-05-18T04:48:12.713Z,1621313292.713 [DataOverHttps](INFO): SBD MOMSN=15648557 2021-05-18T04:48:29.659Z,1621313309.659 [DataOverHttps](INFO): Sending 210 bytes from file Logs/20210518T043000/Express0004.lzma 2021-05-18T04:48:30.661Z,1621313310.661 [DataOverHttps](INFO): Moved sent file to Logs/20210518T043000/Express0004.lzma.bak 2021-05-18T04:48:30.661Z,1621313310.661 [DataOverHttps](INFO): SBD MOMSN=15648560 2021-05-18T04:48:47.800Z,1621313327.800 [DataOverHttps](INFO): Sending 883 bytes from file Logs/20210518T044446/Express0001.lzma 2021-05-18T04:48:48.338Z,1621313328.338 [Startup:StartupSatComms:B](INFO): Timed out from 2021-05-18T04:47:48.1Z 2021-05-18T04:48:48.338Z,1621313328.338 [Startup:StartupSatComms:B] Stopped 2021-05-18T04:48:48.338Z,1621313328.338 [Startup:StartupSatComms](INFO): Completed Startup:StartupSatComms 2021-05-18T04:48:48.338Z,1621313328.338 [Startup:StartupSatComms] Stopped 2021-05-18T04:48:48.338Z,1621313328.338 [Startup:StartupSatComms](DEBUG): Aggregate::uninitialize Startup:StartupSatComms 2021-05-18T04:48:48.339Z,1621313328.339 [Startup](INFO): Completed Startup 2021-05-18T04:48:48.339Z,1621313328.339 [MissionManager](INFO): Startup is completed. 2021-05-18T04:48:48.339Z,1621313328.339 [MissionManager](INFO): Uninitializing Mission Startup 2021-05-18T04:48:48.339Z,1621313328.339 [Startup] Stopped 2021-05-18T04:48:48.339Z,1621313328.339 [Startup](DEBUG): Aggregate::uninitialize Startup 2021-05-18T04:48:48.339Z,1621313328.339 [Startup:A.GoToSurface] Stopped 2021-05-18T04:48:48.339Z,1621313328.339 [Startup:A.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent. 2021-05-18T04:48:48.725Z,1621313328.725 [MissionManager](IMPORTANT): Started mission Default 2021-05-18T04:48:48.725Z,1621313328.725 [Default] Running Loop=1 2021-05-18T04:48:48.726Z,1621313328.726 [Default](DEBUG): Aggregate::initialize Default 2021-05-18T04:48:48.726Z,1621313328.726 [Default:B.GoToSurface] Running Loop=1 2021-05-18T04:48:48.726Z,1621313328.726 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent. 2021-05-18T04:48:48.726Z,1621313328.726 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s. 2021-05-18T04:48:48.726Z,1621313328.726 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees. 2021-05-18T04:48:48.727Z,1621313328.727 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s. 2021-05-18T04:48:48.727Z,1621313328.727 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds. 2021-05-18T04:48:48.727Z,1621313328.727 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds. 2021-05-18T04:48:48.728Z,1621313328.728 [Default:A.Wait] Running Loop=1 2021-05-18T04:48:48.728Z,1621313328.728 [Default:A.Wait](DEBUG): Initialize Wait Component. 2021-05-18T04:48:48.801Z,1621313328.801 [DataOverHttps](INFO): Moved sent file to Logs/20210518T044446/Express0001.lzma.bak 2021-05-18T04:48:48.801Z,1621313328.801 [DataOverHttps](INFO): SBD MOMSN=15648565 2021-05-18T04:48:49.287Z,1621313329.287 [AMEcho](INFO): Powering down. 2021-05-18T04:48:50.325Z,1621313330.325 [AMEcho](INFO): Powering up. 2021-05-18T04:48:55.979Z,1621313335.979 [CommandLine](IMPORTANT): got command failComponent 2021-05-18T04:48:55.979Z,1621313335.979 [CommandLine](IMPORTANT): Failed components: 2021-05-18T04:48:55.979Z,1621313335.979 [CommandLine](IMPORTANT): No failed Components. 2021-05-18T04:49:02.057Z,1621313342.057 [Default:A.Wait](INFO): Done Waiting. 2021-05-18T04:49:02.057Z,1621313342.057 [Default:A.Wait] Stopped 2021-05-18T04:49:02.057Z,1621313342.057 [Default:A.Wait](DEBUG): Uninitialize Wait Component. 2021-05-18T04:49:02.464Z,1621313342.464 [AMEcho](ERROR): No EchoSounder communication! Re-initializing 2021-05-18T04:49:02.464Z,1621313342.464 [AMEcho] Communications Fault, FailCount= 1 2021-05-18T04:49:02.464Z,1621313342.464 [AMEcho](ERROR): Communications Fault 2021-05-18T04:49:02.478Z,1621313342.478 [Default:CheckIn] Running Loop=1 2021-05-18T04:49:02.478Z,1621313342.478 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn 2021-05-18T04:49:02.478Z,1621313342.478 [Default:CheckIn:Read_GPS] Running Loop=1 2021-05-18T04:49:02.487Z,1621313342.487 [CBIT](ERROR): Communications Fault in component: AMEcho 2021-05-18T04:49:03.027Z,1621313343.027 [AMEcho](INFO): Powering down. 2021-05-18T04:49:03.042Z,1621313343.042 [Default:CheckIn:Read_GPS](DEBUG): Initialize ReadDataComponent to sense time_fix 2021-05-18T04:49:03.690Z,1621313343.690 [CBIT](INFO): Clearing failed state for component AMEcho 2021-05-18T04:49:03.691Z,1621313343.691 [AMEcho] No Fault, FailCount= 1 2021-05-18T04:49:04.065Z,1621313344.065 [AMEcho](INFO): Powering up. 2021-05-18T04:49:08.120Z,1621313348.120 [DAT](FAULT): failed to initialize, no bytes available on serial interface 2021-05-18T04:49:08.120Z,1621313348.120 [DAT] Communications Fault, FailCount= 4 2021-05-18T04:49:08.120Z,1621313348.120 [DAT](ERROR): Communications Fault 2021-05-18T04:49:08.169Z,1621313348.169 [CBIT](ERROR): Communications Fault in component: DAT 2021-05-18T04:49:08.520Z,1621313348.520 [DAT](INFO): Powering down 2021-05-18T04:49:09.402Z,1621313349.402 [CBIT](INFO): Clearing failed state for component DAT 2021-05-18T04:49:09.402Z,1621313349.402 [DAT] No Fault, FailCount= 4 2021-05-18T04:49:11.745Z,1621313351.745 [DAT](INFO): Powering up 2021-05-18T04:49:11.746Z,1621313351.746 [DAT](DEBUG): Initializing DAT. 2021-05-18T04:49:16.201Z,1621313356.201 [AMEcho](ERROR): No EchoSounder communication! Re-initializing 2021-05-18T04:49:16.202Z,1621313356.202 [AMEcho] Communications Fault, FailCount= 2 2021-05-18T04:49:16.202Z,1621313356.202 [AMEcho](ERROR): Communications Fault 2021-05-18T04:49:16.264Z,1621313356.264 [CBIT](ERROR): Communications Fault in component: AMEcho 2021-05-18T04:49:16.751Z,1621313356.751 [AMEcho](INFO): Powering down. 2021-05-18T04:49:17.428Z,1621313357.428 [CBIT](INFO): Clearing failed state for component AMEcho 2021-05-18T04:49:17.428Z,1621313357.428 [AMEcho] No Fault, FailCount= 2 2021-05-18T04:49:17.805Z,1621313357.805 [AMEcho](INFO): Powering up. 2021-05-18T04:49:23.071Z,1621313363.071 [DAT](INFO): DAT read: 2021-05-18T04:49:23.498Z,1621313363.498 [DAT](INFO): DAT read: Teledyne Benthos DAT-900 Series 2021-05-18T04:49:24.689Z,1621313364.689 [DAT](INFO): DAT read: MF Frequency Band 2021-05-18T04:49:24.690Z,1621313364.690 [DAT](INFO): DAT read: Directional Acoustic Transponder version 8.14.2 2021-05-18T04:49:25.082Z,1621313365.082 [DAT](INFO): DAT read: May 18 2021 04:48:54 2021-05-18T04:49:25.890Z,1621313365.890 [DAT](INFO): DAT read: Features enabled [Bearing] 2021-05-18T04:49:25.892Z,1621313365.892 [DAT](INFO): DAT read: CONNECT 00800 bits/sec 1 of 4, Rate 1/2 CC 12.50ms MGP 2021-05-18T04:49:25.892Z,1621313365.892 [DAT](INFO): commRate: 800 2021-05-18T04:49:27.903Z,1621313367.903 [DAT](INFO): entering command mode 2021-05-18T04:49:28.317Z,1621313368.317 [DAT](INFO): DAT read: 2021-05-18T04:49:28.317Z,1621313368.317 [DAT](DEBUG): checking for command mode acknowledgment 2021-05-18T04:49:28.732Z,1621313368.732 [DAT](DEBUG): checking for command mode acknowledgment 2021-05-18T04:49:29.133Z,1621313369.133 [DAT](DEBUG): checking for command mode acknowledgment 2021-05-18T04:49:29.540Z,1621313369.540 [DAT](DEBUG): checking for command mode acknowledgment 2021-05-18T04:49:29.944Z,1621313369.944 [AMEcho](ERROR): No EchoSounder communication! Re-initializing 2021-05-18T04:49:29.944Z,1621313369.944 [AMEcho] Communications Fault, FailCount= 3 2021-05-18T04:49:29.944Z,1621313369.944 [AMEcho](ERROR): Communications Fault 2021-05-18T04:49:29.945Z,1621313369.945 [DAT](DEBUG): checking for command mode acknowledgment 2021-05-18T04:49:29.966Z,1621313369.966 [CBIT](ERROR): Communications Fault in component: AMEcho 2021-05-18T04:49:29.967Z,1621313369.967 [CBIT](CRITICAL): Communications Fault in component: AMEcho 2021-05-18T04:49:30.495Z,1621313370.495 [AMEcho](INFO): Powering down. 2021-05-18T04:49:30.496Z,1621313370.496 [DAT](DEBUG): checking for command mode acknowledgment 2021-05-18T04:49:30.533Z,1621313370.533 [CommandLine](FAULT): Scheduling is paused 2021-05-18T04:49:30.534Z,1621313370.534 [CBIT](INFO): Critical error at 20210518T044929 2021-05-18T04:49:30.534Z,1621313370.534 [Supervisor](INFO): Stop Mission called by CBIT::checkCriticals 2021-05-18T04:49:30.734Z,1621313370.734 [DAT](DEBUG): checking for command mode acknowledgment 2021-05-18T04:49:31.138Z,1621313371.138 [DAT](DEBUG): checking for command mode acknowledgment 2021-05-18T04:49:31.553Z,1621313371.553 [DAT](DEBUG): checking for command mode acknowledgment 2021-05-18T04:49:31.941Z,1621313371.941 [DAT](DEBUG): checking for command mode acknowledgment 2021-05-18T04:49:32.356Z,1621313372.356 [DAT](DEBUG): checking for command mode acknowledgment 2021-05-18T04:49:32.754Z,1621313372.754 [DAT](DEBUG): checking for command mode acknowledgment 2021-05-18T04:49:33.162Z,1621313373.162 [DAT](DEBUG): checking for command mode acknowledgment 2021-05-18T04:49:33.558Z,1621313373.558 [DAT](DEBUG): checking for command mode acknowledgment 2021-05-18T04:49:33.980Z,1621313373.980 [DAT](DEBUG): checking for command mode acknowledgment 2021-05-18T04:49:34.384Z,1621313374.384 [DAT](DEBUG): checking for command mode acknowledgment 2021-05-18T04:49:34.788Z,1621313374.788 [DAT](DEBUG): checking for command mode acknowledgment 2021-05-18T04:49:35.192Z,1621313375.192 [DAT](DEBUG): checking for command mode acknowledgment 2021-05-18T04:49:35.594Z,1621313375.594 [DAT](DEBUG): checking for command mode acknowledgment 2021-05-18T04:49:36.052Z,1621313376.052 [DAT](DEBUG): checking for command mode acknowledgment 2021-05-18T04:49:36.397Z,1621313376.397 [DAT](DEBUG): checking for command mode acknowledgment 2021-05-18T04:49:36.809Z,1621313376.809 [DAT](DEBUG): checking for command mode acknowledgment 2021-05-18T04:49:37.213Z,1621313377.213 [DAT](DEBUG): checking for command mode acknowledgment 2021-05-18T04:49:37.601Z,1621313377.601 [DAT](DEBUG): checking for command mode acknowledgment 2021-05-18T04:49:38.005Z,1621313378.005 [DAT](DEBUG): checking for command mode acknowledgment 2021-05-18T04:49:38.409Z,1621313378.409 [DAT](DEBUG): checking for command mode acknowledgment 2021-05-18T04:49:38.819Z,1621313378.819 [DAT](DEBUG): checking for command mode acknowledgment 2021-05-18T04:49:39.296Z,1621313379.296 [DAT](DEBUG): checking for command mode acknowledgment 2021-05-18T04:49:39.640Z,1621313379.640 [DAT](DEBUG): checking for command mode acknowledgment 2021-05-18T04:49:40.052Z,1621313380.052 [DAT](DEBUG): checking for command mode acknowledgment 2021-05-18T04:49:40.456Z,1621313380.456 [DAT](DEBUG): checking for command mode acknowledgment 2021-05-18T04:49:40.834Z,1621313380.834 [DAT](DEBUG): checking for command mode acknowledgment 2021-05-18T04:49:41.249Z,1621313381.249 [DAT](DEBUG): checking for command mode acknowledgment 2021-05-18T04:49:41.649Z,1621313381.649 [DAT](DEBUG): checking for command mode acknowledgment 2021-05-18T04:49:42.053Z,1621313382.053 [DAT](DEBUG): checking for command mode acknowledgment 2021-05-18T04:49:42.449Z,1621313382.449 [DAT](DEBUG): checking for command mode acknowledgment 2021-05-18T04:49:42.853Z,1621313382.853 [DAT](DEBUG): checking for command mode acknowledgment 2021-05-18T04:49:43.261Z,1621313383.261 [DAT](DEBUG): checking for command mode acknowledgment 2021-05-18T04:49:43.261Z,1621313383.261 [DAT](FAULT): failed to enter command mode 2021-05-18T04:49:43.664Z,1621313383.664 [DAT](INFO): entering command mode 2021-05-18T04:49:44.062Z,1621313384.062 [DAT](INFO): DAT read: user:1> 2021-05-18T04:49:44.062Z,1621313384.062 [DAT](INFO): DAT read: Command '+++' not found 2021-05-18T04:49:44.063Z,1621313384.063 [DAT](INFO): DAT read: Error 2021-05-18T04:49:44.063Z,1621313384.063 [DAT](INFO): setting verbose to 3 2021-05-18T04:49:44.497Z,1621313384.497 [DAT](INFO): DAT read: user:2> 2021-05-18T04:49:44.498Z,1621313384.498 [DAT](INFO): DAT read: Verbose | 3 2021-05-18T04:49:44.498Z,1621313384.498 [DAT](INFO): set verbose to 3 2021-05-18T04:49:44.499Z,1621313384.499 [DAT](INFO): setting DatVerbose to 27440 2021-05-18T04:49:44.880Z,1621313384.880 [DAT](INFO): DAT read: user:3> 2021-05-18T04:49:44.881Z,1621313384.881 [DAT](INFO): DAT read: DatVerbose | 27440 2021-05-18T04:49:44.881Z,1621313384.881 [DAT](INFO): set DatVerbose to 27440 2021-05-18T04:49:44.882Z,1621313384.882 [DAT](INFO): setting transmit power to 8 2021-05-18T04:49:45.292Z,1621313385.292 [DAT](INFO): DAT read: user:4> 2021-05-18T04:49:45.293Z,1621313385.293 [DAT](INFO): DAT read: TxPower | 8 (Max) 2021-05-18T04:49:45.293Z,1621313385.293 [DAT](INFO): set transmit power to 8 2021-05-18T04:49:45.293Z,1621313385.293 [DAT](INFO): setting local address to 7 2021-05-18T04:49:45.700Z,1621313385.700 [DAT](INFO): DAT read: user:5> 2021-05-18T04:49:45.701Z,1621313385.701 [DAT](INFO): DAT read: LocalAddr | 7 2021-05-18T04:49:45.701Z,1621313385.701 [DAT](INFO): set local address to 7 2021-05-18T04:50:39.020Z,1621313439.020 [NAL9602](FAULT): MT Queue status failed to be acquired within timeout. Will not retry this session. 2021-05-18T04:50:57.228Z,1621313457.228 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 2 2021-05-18T04:50:57.228Z,1621313457.228 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault 2021-05-18T04:50:57.272Z,1621313457.272 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources 2021-05-18T04:50:57.642Z,1621313457.642 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources 2021-05-18T04:50:57.642Z,1621313457.642 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 2 2021-05-18T04:52:19.615Z,1621313539.615 [BPC1](INFO): Calculating totals. Valid battery stick count: 56. Valid reserve battery stick count: 6. 2021-05-18T04:52:19.618Z,1621313539.618 [BPC1](INFO): Received data from all battery sticks. 2021-05-18T04:52:30.150Z,1621313550.150 [CBIT](INFO): Clearing failed state for component AMEcho 2021-05-18T04:52:30.150Z,1621313550.150 [AMEcho] No Fault, FailCount= 3 2021-05-18T04:52:30.509Z,1621313550.509 [AMEcho](INFO): Powering up. 2021-05-18T04:52:45.472Z,1621313565.472 [DAT](INFO): DAT read: user:6>Lowpower 2021-05-18T04:52:45.473Z,1621313565.473 [DAT](DEBUG): Re-entering command mode due to deviceResponse_: user:6>Lowpower 2021-05-18T04:53:28.313Z,1621313608.313 [CommandLine](IMPORTANT): got command failComponent 2021-05-18T04:53:28.313Z,1621313608.313 [CommandLine](IMPORTANT): Failed components: 2021-05-18T04:53:28.313Z,1621313608.313 [CommandLine](IMPORTANT): No failed Components. 2021-05-18T04:53:44.029Z,1621313624.029 [CommandLine](IMPORTANT): got command show stack 2021-05-18T04:53:44.029Z,1621313624.029 [CommandLine](IMPORTANT): Behavior Stack: 2021-05-18T04:53:44.030Z,1621313624.030 [Default](IMPORTANT): Priority 0: Default:B.GoToSurface 2021-05-18T04:53:44.030Z,1621313624.030 [Default:CheckIn](IMPORTANT): Priority 1: Default:CheckIn:Read_GPS 2021-05-18T04:53:58.192Z,1621313638.192 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 3 2021-05-18T04:53:58.192Z,1621313638.192 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault 2021-05-18T04:53:58.209Z,1621313638.209 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources 2021-05-18T04:53:58.622Z,1621313638.622 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources 2021-05-18T04:53:58.622Z,1621313638.622 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 3 2021-05-18T04:54:00.409Z,1621313640.409 [CommandLine](IMPORTANT): got command run ./Missions/lab_range_test.xml 2021-05-18T04:54:00.409Z,1621313640.409 [MissionManager](INFO): Loading Mission: ./Missions/lab_range_test.xml 2021-05-18T04:54:00.434Z,1621313640.434 [MissionManager](INFO): DefineArg lab_range_test.MissionTimeout = 2.000000 min 2021-05-18T04:54:00.437Z,1621313640.437 [MissionManager](INFO): DefineArg lab_range_test.ContactLabel = 50.000000 count 2021-05-18T04:54:00.440Z,1621313640.440 [MissionManager](INFO): DefineArg lab_range_test.TrackingUpdatePeriod = 5.000000 s 2021-05-18T04:54:00.443Z,1621313640.443 [MissionManager](INFO): DefineArg lab_range_test.NumberOfPings = 5.000000 count 2021-05-18T04:54:00.446Z,1621313640.446 [MissionManager](INFO): DefineArg lab_range_test.ContactDepth = nan m 2021-05-18T04:54:00.541Z,1621313640.541 [lab_range_test:B.Wait](DEBUG): Construct Wait. 2021-05-18T04:54:00.553Z,1621313640.553 [MissionManager](DEBUG): LAB TEST MISSION - ping remote xponder Maximum duration of mission 2 The acoustic address of the asset to be tracked 50 How long to wait between acoustic queries 5 Number of return pings to request with each acoustic query (more than 1 will activate oneway mode) 5 The acoustic address of the asset to be tracked NaN 2021-05-18T04:54:00.560Z,1621313640.560 [CommandLine](IMPORTANT): Running ./Missions/lab_range_test.xml 2021-05-18T04:54:00.628Z,1621313640.628 [Default] Stopped 2021-05-18T04:54:00.628Z,1621313640.628 [Default](DEBUG): Aggregate::uninitialize Default 2021-05-18T04:54:00.628Z,1621313640.628 [Default:B.GoToSurface] Stopped 2021-05-18T04:54:00.628Z,1621313640.628 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent. 2021-05-18T04:54:00.628Z,1621313640.628 [Default:CheckIn] Stopped 2021-05-18T04:54:00.628Z,1621313640.628 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn 2021-05-18T04:54:00.628Z,1621313640.628 [Default:CheckIn:Read_GPS] Stopped 2021-05-18T04:54:00.629Z,1621313640.629 [MissionManager](IMPORTANT): Started mission lab_range_test 2021-05-18T04:54:00.629Z,1621313640.629 [lab_range_test] Running Loop=1 2021-05-18T04:54:00.629Z,1621313640.629 [lab_range_test](DEBUG): Aggregate::initialize lab_range_test 2021-05-18T04:54:00.629Z,1621313640.629 [lab_range_test:A.] Running Loop=1 2021-05-18T04:54:00.629Z,1621313640.629 [lab_range_test:A.](INFO): Initializing Tracking. 2021-05-18T04:54:00.630Z,1621313640.630 [lab_range_test:B.Wait] Running Loop=1 2021-05-18T04:54:00.630Z,1621313640.630 [lab_range_test:B.Wait](DEBUG): Initialize Wait Component. 2021-05-18T04:54:00.630Z,1621313640.630 [lab_range_test:A.] Running Loop=1 2021-05-18T04:54:00.630Z,1621313640.630 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:54:01.030Z,1621313641.030 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:54:01.467Z,1621313641.467 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:54:01.842Z,1621313641.842 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:54:02.242Z,1621313642.242 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:54:02.633Z,1621313642.633 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:54:03.038Z,1621313643.038 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:54:03.450Z,1621313643.450 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:54:03.860Z,1621313643.860 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:54:04.272Z,1621313644.272 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:54:04.670Z,1621313644.670 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:54:05.081Z,1621313645.081 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:54:05.462Z,1621313645.462 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:54:05.865Z,1621313645.865 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:54:05.866Z,1621313645.866 [lab_range_test:A.](INFO): update period (5.000000 s) has elapsed, querying... 2021-05-18T04:54:05.866Z,1621313645.866 [lab_range_test:A.](INFO): *** querying DAT *** 2021-05-18T04:54:06.260Z,1621313646.260 [DAT](INFO): ****** received valid address query ****** 2021-05-18T04:54:06.260Z,1621313646.260 [DAT](INFO): ****** received valid ping request ****** 2021-05-18T04:54:06.260Z,1621313646.260 [DAT](INFO): entering command mode 2021-05-18T04:54:06.274Z,1621313646.274 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:54:06.670Z,1621313646.670 [DAT](INFO): DAT read: UART Wakeup 2021-05-18T04:54:06.671Z,1621313646.671 [DAT](INFO): DAT read: CONNECT 00800 bits/sec 1 of 4, Rate 1/2 CC 12.50ms MGP 2021-05-18T04:54:06.672Z,1621313646.672 [DAT](INFO): commRate: 800 2021-05-18T04:54:06.672Z,1621313646.672 [DAT](INFO): DAT read: 2021-05-18T04:54:06.673Z,1621313646.673 [DAT](INFO): ****** received valid address query ****** 2021-05-18T04:54:06.673Z,1621313646.673 [DAT](INFO): ****** received valid ping request ****** 2021-05-18T04:54:06.713Z,1621313646.713 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:54:07.077Z,1621313647.077 [DAT](INFO): ****** received valid address query ****** 2021-05-18T04:54:07.077Z,1621313647.077 [DAT](INFO): ****** received valid ping request ****** 2021-05-18T04:54:07.109Z,1621313647.109 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:54:07.489Z,1621313647.489 [DAT](INFO): ****** received valid address query ****** 2021-05-18T04:54:07.489Z,1621313647.489 [DAT](INFO): ****** received valid ping request ****** 2021-05-18T04:54:07.534Z,1621313647.534 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:54:07.888Z,1621313647.888 [DAT](INFO): ****** received valid address query ****** 2021-05-18T04:54:07.889Z,1621313647.889 [DAT](INFO): ****** received valid ping request ****** 2021-05-18T04:54:07.901Z,1621313647.901 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:54:08.279Z,1621313648.279 [DAT](INFO): ****** received valid address query ****** 2021-05-18T04:54:08.287Z,1621313648.287 [DAT](INFO): ****** received valid ping request ****** 2021-05-18T04:54:08.313Z,1621313648.313 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:54:08.682Z,1621313648.682 [DAT](INFO): ****** received valid address query ****** 2021-05-18T04:54:08.683Z,1621313648.683 [DAT](INFO): ****** received valid ping request ****** 2021-05-18T04:54:08.683Z,1621313648.683 [DAT](DEBUG): checking for command mode acknowledgment 2021-05-18T04:54:08.690Z,1621313648.690 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:54:09.086Z,1621313649.086 [DAT](INFO): ****** received valid address query ****** 2021-05-18T04:54:09.086Z,1621313649.086 [DAT](INFO): ****** received valid ping request ****** 2021-05-18T04:54:09.087Z,1621313649.087 [DAT](DEBUG): checking for command mode acknowledgment 2021-05-18T04:54:09.101Z,1621313649.101 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:54:09.491Z,1621313649.491 [DAT](INFO): ****** received valid address query ****** 2021-05-18T04:54:09.491Z,1621313649.491 [DAT](INFO): ****** received valid ping request ****** 2021-05-18T04:54:09.491Z,1621313649.491 [DAT](DEBUG): checking for command mode acknowledgment 2021-05-18T04:54:09.505Z,1621313649.505 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:54:09.905Z,1621313649.905 [DAT](INFO): ****** received valid address query ****** 2021-05-18T04:54:09.905Z,1621313649.905 [DAT](INFO): ****** received valid ping request ****** 2021-05-18T04:54:09.905Z,1621313649.905 [DAT](DEBUG): checking for command mode acknowledgment 2021-05-18T04:54:09.912Z,1621313649.912 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:54:10.317Z,1621313650.317 [DAT](INFO): ****** received valid address query ****** 2021-05-18T04:54:10.317Z,1621313650.317 [DAT](INFO): ****** received valid ping request ****** 2021-05-18T04:54:10.317Z,1621313650.317 [DAT](DEBUG): checking for command mode acknowledgment 2021-05-18T04:54:10.353Z,1621313650.353 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:54:10.717Z,1621313650.717 [DAT](INFO): ****** received valid address query ****** 2021-05-18T04:54:10.717Z,1621313650.717 [DAT](INFO): ****** received valid ping request ****** 2021-05-18T04:54:10.717Z,1621313650.717 [DAT](DEBUG): checking for command mode acknowledgment 2021-05-18T04:54:10.757Z,1621313650.757 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:54:11.121Z,1621313651.121 [DAT](INFO): ****** received valid address query ****** 2021-05-18T04:54:11.121Z,1621313651.121 [DAT](INFO): ****** received valid ping request ****** 2021-05-18T04:54:11.121Z,1621313651.121 [DAT](DEBUG): checking for command mode acknowledgment 2021-05-18T04:54:11.136Z,1621313651.136 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:54:11.138Z,1621313651.138 [lab_range_test:A.](INFO): update period (5.000000 s) has elapsed, querying... 2021-05-18T04:54:11.139Z,1621313651.139 [lab_range_test:A.](INFO): *** querying DAT *** 2021-05-18T04:54:11.514Z,1621313651.514 [DAT](INFO): ****** received valid address query ****** 2021-05-18T04:54:11.514Z,1621313651.514 [DAT](INFO): ****** received valid ping request ****** 2021-05-18T04:54:11.514Z,1621313651.514 [DAT](DEBUG): checking for command mode acknowledgment 2021-05-18T04:54:11.530Z,1621313651.530 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:54:11.914Z,1621313651.914 [DAT](INFO): ****** received valid address query ****** 2021-05-18T04:54:11.914Z,1621313651.914 [DAT](INFO): ****** received valid ping request ****** 2021-05-18T04:54:11.914Z,1621313651.914 [DAT](DEBUG): checking for command mode acknowledgment 2021-05-18T04:54:11.954Z,1621313651.954 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:54:12.320Z,1621313652.320 [DAT](INFO): ****** received valid address query ****** 2021-05-18T04:54:12.320Z,1621313652.320 [DAT](INFO): ****** received valid ping request ****** 2021-05-18T04:54:12.320Z,1621313652.320 [DAT](DEBUG): checking for command mode acknowledgment 2021-05-18T04:54:12.327Z,1621313652.327 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:54:12.722Z,1621313652.722 [DAT](INFO): ****** received valid address query ****** 2021-05-18T04:54:12.722Z,1621313652.722 [DAT](INFO): ****** received valid ping request ****** 2021-05-18T04:54:12.722Z,1621313652.722 [DAT](DEBUG): checking for command mode acknowledgment 2021-05-18T04:54:12.729Z,1621313652.729 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:54:13.145Z,1621313653.145 [DAT](INFO): ****** received valid address query ****** 2021-05-18T04:54:13.145Z,1621313653.145 [DAT](INFO): ****** received valid ping request ****** 2021-05-18T04:54:13.145Z,1621313653.145 [DAT](DEBUG): checking for command mode acknowledgment 2021-05-18T04:54:13.157Z,1621313653.157 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:54:13.549Z,1621313653.549 [DAT](INFO): ****** received valid address query ****** 2021-05-18T04:54:13.549Z,1621313653.549 [DAT](INFO): ****** received valid ping request ****** 2021-05-18T04:54:13.549Z,1621313653.549 [DAT](DEBUG): checking for command mode acknowledgment 2021-05-18T04:54:13.581Z,1621313653.581 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:54:13.948Z,1621313653.948 [DAT](INFO): ****** received valid address query ****** 2021-05-18T04:54:13.949Z,1621313653.949 [DAT](INFO): ****** received valid ping request ****** 2021-05-18T04:54:13.949Z,1621313653.949 [DAT](DEBUG): checking for command mode acknowledgment 2021-05-18T04:54:13.984Z,1621313653.984 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:54:14.347Z,1621313654.347 [DAT](INFO): ****** received valid address query ****** 2021-05-18T04:54:14.348Z,1621313654.348 [DAT](INFO): ****** received valid ping request ****** 2021-05-18T04:54:14.348Z,1621313654.348 [DAT](DEBUG): checking for command mode acknowledgment 2021-05-18T04:54:14.355Z,1621313654.355 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:54:14.750Z,1621313654.750 [DAT](INFO): ****** received valid address query ****** 2021-05-18T04:54:14.750Z,1621313654.750 [DAT](INFO): ****** received valid ping request ****** 2021-05-18T04:54:14.751Z,1621313654.751 [DAT](DEBUG): checking for command mode acknowledgment 2021-05-18T04:54:14.785Z,1621313654.785 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:54:15.153Z,1621313655.153 [DAT](INFO): ****** received valid address query ****** 2021-05-18T04:54:15.153Z,1621313655.153 [DAT](INFO): ****** received valid ping request ****** 2021-05-18T04:54:15.153Z,1621313655.153 [DAT](DEBUG): checking for command mode acknowledgment 2021-05-18T04:54:15.185Z,1621313655.185 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:54:15.562Z,1621313655.562 [DAT](INFO): ****** received valid address query ****** 2021-05-18T04:54:15.562Z,1621313655.562 [DAT](INFO): ****** received valid ping request ****** 2021-05-18T04:54:15.562Z,1621313655.562 [DAT](DEBUG): checking for command mode acknowledgment 2021-05-18T04:54:15.569Z,1621313655.569 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:54:15.977Z,1621313655.977 [DAT](INFO): ****** received valid address query ****** 2021-05-18T04:54:15.977Z,1621313655.977 [DAT](INFO): ****** received valid ping request ****** 2021-05-18T04:54:15.977Z,1621313655.977 [DAT](DEBUG): checking for command mode acknowledgment 2021-05-18T04:54:16.021Z,1621313656.021 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:54:16.385Z,1621313656.385 [DAT](INFO): ****** received valid address query ****** 2021-05-18T04:54:16.385Z,1621313656.385 [DAT](INFO): ****** received valid ping request ****** 2021-05-18T04:54:16.385Z,1621313656.385 [DAT](DEBUG): checking for command mode acknowledgment 2021-05-18T04:54:16.397Z,1621313656.397 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:54:16.398Z,1621313656.398 [lab_range_test:A.](INFO): update period (5.000000 s) has elapsed, querying... 2021-05-18T04:54:16.398Z,1621313656.398 [lab_range_test:A.](INFO): *** querying DAT *** 2021-05-18T04:54:16.779Z,1621313656.779 [DAT](INFO): ****** received valid address query ****** 2021-05-18T04:54:16.779Z,1621313656.779 [DAT](INFO): ****** received valid ping request ****** 2021-05-18T04:54:16.779Z,1621313656.779 [DAT](DEBUG): checking for command mode acknowledgment 2021-05-18T04:54:16.793Z,1621313656.793 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:54:17.172Z,1621313657.172 [DAT](INFO): ****** received valid address query ****** 2021-05-18T04:54:17.172Z,1621313657.172 [DAT](INFO): ****** received valid ping request ****** 2021-05-18T04:54:17.172Z,1621313657.172 [DAT](DEBUG): checking for command mode acknowledgment 2021-05-18T04:54:17.179Z,1621313657.179 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:54:17.570Z,1621313657.570 [DAT](INFO): ****** received valid address query ****** 2021-05-18T04:54:17.570Z,1621313657.570 [DAT](INFO): ****** received valid ping request ****** 2021-05-18T04:54:17.570Z,1621313657.570 [DAT](DEBUG): checking for command mode acknowledgment 2021-05-18T04:54:17.581Z,1621313657.581 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:54:17.997Z,1621313657.997 [DAT](INFO): ****** received valid address query ****** 2021-05-18T04:54:17.997Z,1621313657.997 [DAT](INFO): ****** received valid ping request ****** 2021-05-18T04:54:17.997Z,1621313657.997 [DAT](DEBUG): checking for command mode acknowledgment 2021-05-18T04:54:18.009Z,1621313658.009 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:54:18.400Z,1621313658.400 [DAT](INFO): ****** received valid address query ****** 2021-05-18T04:54:18.401Z,1621313658.401 [DAT](INFO): ****** received valid ping request ****** 2021-05-18T04:54:18.401Z,1621313658.401 [DAT](DEBUG): checking for command mode acknowledgment 2021-05-18T04:54:18.413Z,1621313658.413 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:54:18.792Z,1621313658.792 [DAT](INFO): ****** received valid address query ****** 2021-05-18T04:54:18.792Z,1621313658.792 [DAT](INFO): ****** received valid ping request ****** 2021-05-18T04:54:18.793Z,1621313658.793 [DAT](DEBUG): checking for command mode acknowledgment 2021-05-18T04:54:18.833Z,1621313658.833 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:54:19.191Z,1621313659.191 [DAT](INFO): ****** received valid address query ****** 2021-05-18T04:54:19.191Z,1621313659.191 [DAT](INFO): ****** received valid ping request ****** 2021-05-18T04:54:19.191Z,1621313659.191 [DAT](DEBUG): checking for command mode acknowledgment 2021-05-18T04:54:19.198Z,1621313659.198 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:54:19.594Z,1621313659.594 [DAT](INFO): ****** received valid address query ****** 2021-05-18T04:54:19.594Z,1621313659.594 [DAT](INFO): ****** received valid ping request ****** 2021-05-18T04:54:19.594Z,1621313659.594 [DAT](DEBUG): checking for command mode acknowledgment 2021-05-18T04:54:19.626Z,1621313659.626 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:54:20.009Z,1621313660.009 [DAT](INFO): ****** received valid address query ****** 2021-05-18T04:54:20.009Z,1621313660.009 [DAT](INFO): ****** received valid ping request ****** 2021-05-18T04:54:20.009Z,1621313660.009 [DAT](DEBUG): checking for command mode acknowledgment 2021-05-18T04:54:20.036Z,1621313660.036 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:54:20.413Z,1621313660.413 [DAT](INFO): ****** received valid address query ****** 2021-05-18T04:54:20.413Z,1621313660.413 [DAT](INFO): ****** received valid ping request ****** 2021-05-18T04:54:20.413Z,1621313660.413 [DAT](DEBUG): checking for command mode acknowledgment 2021-05-18T04:54:20.448Z,1621313660.448 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:54:20.813Z,1621313660.813 [DAT](INFO): ****** received valid address query ****** 2021-05-18T04:54:20.813Z,1621313660.813 [DAT](INFO): ****** received valid ping request ****** 2021-05-18T04:54:20.813Z,1621313660.813 [DAT](DEBUG): checking for command mode acknowledgment 2021-05-18T04:54:20.825Z,1621313660.825 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:54:21.212Z,1621313661.212 [DAT](INFO): ****** received valid address query ****** 2021-05-18T04:54:21.212Z,1621313661.212 [DAT](INFO): ****** received valid ping request ****** 2021-05-18T04:54:21.212Z,1621313661.212 [DAT](DEBUG): checking for command mode acknowledgment 2021-05-18T04:54:21.219Z,1621313661.219 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:54:21.618Z,1621313661.618 [DAT](INFO): ****** received valid address query ****** 2021-05-18T04:54:21.618Z,1621313661.618 [DAT](INFO): ****** received valid ping request ****** 2021-05-18T04:54:21.618Z,1621313661.618 [DAT](DEBUG): checking for command mode acknowledgment 2021-05-18T04:54:21.618Z,1621313661.618 [DAT](FAULT): failed to enter command mode 2021-05-18T04:54:21.661Z,1621313661.661 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:54:21.661Z,1621313661.661 [lab_range_test:A.](INFO): update period (5.000000 s) has elapsed, querying... 2021-05-18T04:54:21.661Z,1621313661.661 [lab_range_test:A.](INFO): *** querying DAT *** 2021-05-18T04:54:22.018Z,1621313662.018 [DAT](INFO): ****** received valid address query ****** 2021-05-18T04:54:22.018Z,1621313662.018 [DAT](INFO): ****** received valid ping request ****** 2021-05-18T04:54:22.019Z,1621313662.019 [DAT](INFO): entering command mode 2021-05-18T04:54:22.028Z,1621313662.028 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:54:22.419Z,1621313662.419 [DAT](INFO): DAT read: user:6> 2021-05-18T04:54:22.420Z,1621313662.420 [DAT](INFO): DAT read: Command '+++' not found 2021-05-18T04:54:22.420Z,1621313662.420 [DAT](INFO): DAT read: Error 2021-05-18T04:54:22.421Z,1621313662.421 [DAT](INFO): ****** received valid address query ****** 2021-05-18T04:54:22.421Z,1621313662.421 [DAT](INFO): ****** received valid ping request ****** 2021-05-18T04:54:22.421Z,1621313662.421 [DAT](INFO): setting remote address to 0 2021-05-18T04:54:22.440Z,1621313662.440 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:54:22.822Z,1621313662.822 [DAT](INFO): DAT read: user:7> 2021-05-18T04:54:22.823Z,1621313662.823 [DAT](INFO): DAT read: RemoteAddr | 0 2021-05-18T04:54:22.823Z,1621313662.823 [DAT](INFO): set remote address to 0 2021-05-18T04:54:22.823Z,1621313662.823 [DAT](INFO): ****** received valid address query ****** 2021-05-18T04:54:22.824Z,1621313662.824 [DAT](INFO): ****** received valid ping request ****** 2021-05-18T04:54:22.824Z,1621313662.824 [DAT](INFO): Querying Benthos address 50 with 5 pings in terminal homing one-way mode. 2021-05-18T04:54:22.826Z,1621313662.826 [DAT](INFO): ****** ping requested ****** 2021-05-18T04:54:22.885Z,1621313662.885 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:54:23.241Z,1621313663.241 [DAT](INFO): DAT read: user:8> 2021-05-18T04:54:23.242Z,1621313663.242 [DAT](INFO): DAT read: Tx time:04:53:56.7362 2021-05-18T04:54:23.242Z,1621313663.242 [DAT](INFO): Ping request sent. 2021-05-18T04:54:23.242Z,1621313663.242 [DAT](INFO): transmitted an acoustic signal 2021-05-18T04:54:23.243Z,1621313663.243 [DAT](INFO): publishing transmit ping time 2021-05-18T04:54:23.244Z,1621313663.244 [DAT](INFO): checking for new query: numPingsReceived=0 elapsed TxPingTime=0.001370 2021-05-18T04:54:23.302Z,1621313663.302 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:54:23.649Z,1621313663.649 [DAT](INFO): checking for new query: numPingsReceived=0 elapsed TxPingTime=0.406469 2021-05-18T04:54:23.662Z,1621313663.662 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:54:24.050Z,1621313664.050 [DAT](INFO): checking for new query: numPingsReceived=0 elapsed TxPingTime=0.807452 2021-05-18T04:54:24.073Z,1621313664.073 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:54:24.438Z,1621313664.438 [DAT](INFO): checking for new query: numPingsReceived=0 elapsed TxPingTime=1.196243 2021-05-18T04:54:24.453Z,1621313664.453 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:54:24.842Z,1621313664.842 [DAT](INFO): checking for new query: numPingsReceived=0 elapsed TxPingTime=1.599969 2021-05-18T04:54:24.849Z,1621313664.849 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:54:25.251Z,1621313665.251 [DAT](INFO): checking for new query: numPingsReceived=0 elapsed TxPingTime=2.009255 2021-05-18T04:54:25.274Z,1621313665.274 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:54:25.655Z,1621313665.655 [DAT](INFO): DAT read: Rx Time:04:53:58.8659 2021-05-18T04:54:25.656Z,1621313665.656 [DAT](INFO): received an acoustic signal 2021-05-18T04:54:25.657Z,1621313665.657 [DAT](INFO): DAT read: Bearing 73.2, -5.2 (Local) 2021-05-18T04:54:25.658Z,1621313665.658 [DAT](INFO): Local bearing/azimuth received: Bearing 73.2, -5.2 (Local) 2021-05-18T04:54:25.668Z,1621313665.668 [DAT](INFO): DAT read: Range 7 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0 2021-05-18T04:54:25.669Z,1621313665.669 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2021-05-18T04:54:25.669Z,1621313665.669 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone 2021-05-18T04:54:25.679Z,1621313665.679 [DAT](INFO): checking for new query: numPingsReceived=1 elapsed TxPingTime=2.428532 2021-05-18T04:54:25.702Z,1621313665.702 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:54:25.712Z,1621313665.712 [lab_range_test:A.](INFO): direction in vehicle frame: [ 0.000000 forward, 0.000000 starboard, 0.000000 keelward ] 2021-05-18T04:54:26.097Z,1621313666.097 [DAT](INFO): DAT read: 04:53:58.8659 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 176, 0.23, 2.644, 2.385, 2.601, 2.577, PHS= 0.063,-0.148, 0.009, RAW= 135.8, 8.1, CAL= 136.8, 5.2, ROT= 73.2, -5.2 2021-05-18T04:54:26.099Z,1621313666.099 [DAT](INFO): got valid direction response: 04:53:58.8659 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 176, 0.23, 2.644, 2.385, 2.601, 2.577, PHS= 0.063,-0.148, 0.009, RAW= 135.8, 8.1, CAL= 136.8, 5.2, ROT= 73.2, -5.2 2021-05-18T04:54:26.100Z,1621313666.100 [DAT](INFO): DAT read: Rx Time:04:53:59.3657 2021-05-18T04:54:26.101Z,1621313666.101 [DAT](INFO): received an acoustic signal 2021-05-18T04:54:26.102Z,1621313666.102 [DAT](INFO): DAT read: Bearing 70.8, -7.4 (Local) 2021-05-18T04:54:26.102Z,1621313666.102 [DAT](INFO): Local bearing/azimuth received: Bearing 70.8, -7.4 (Local) 2021-05-18T04:54:26.104Z,1621313666.104 [DAT](INFO): DAT read: Range 7 to 50 : 0.0 m (trip time 0.0 ms) speed 0.0 2021-05-18T04:54:26.105Z,1621313666.105 [DAT](INFO): unknown deviceResponse_: Range 7 to 50 : 0.0 m (trip time 0.0 ms) speed 0.0 2021-05-18T04:54:26.106Z,1621313666.106 [DAT](INFO): #Rx 2: Read direction message, but no range. 2021-05-18T04:54:26.107Z,1621313666.107 [DAT](INFO): direction in vehicle frame: [ 0.287842 forward, 0.953380 starboard, -0.090633 keelward ] 2021-05-18T04:54:26.108Z,1621313666.108 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone 2021-05-18T04:54:26.112Z,1621313666.112 [DAT](INFO): checking for new query: numPingsReceived=2 elapsed TxPingTime=2.869612 2021-05-18T04:54:26.121Z,1621313666.121 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:54:26.533Z,1621313666.533 [DAT](INFO): DAT read: 04:53:59.3657 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 494, 0.43,-0.034,-0.299,-0.068,-0.091, PHS= 0.053,-0.164, 0.008, RAW= 138.6, 10.5, CAL= 139.2, 7.4, ROT= 70.8, -7.4 2021-05-18T04:54:26.535Z,1621313666.535 [DAT](INFO): got valid direction response: 04:53:59.3657 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 494, 0.43,-0.034,-0.299,-0.068,-0.091, PHS= 0.053,-0.164, 0.008, RAW= 138.6, 10.5, CAL= 139.2, 7.4, ROT= 70.8, -7.4 2021-05-18T04:54:26.536Z,1621313666.536 [DAT](INFO): DAT read: Rx Time:04:53:59.8658 2021-05-18T04:54:26.536Z,1621313666.536 [DAT](INFO): received an acoustic signal 2021-05-18T04:54:26.538Z,1621313666.538 [DAT](INFO): DAT read: Bearing 124.4, 11.1 (Local) 2021-05-18T04:54:26.538Z,1621313666.538 [DAT](INFO): Local bearing/azimuth received: Bearing 124.4, 11.1 (Local) 2021-05-18T04:54:26.540Z,1621313666.540 [DAT](INFO): DAT read: Range 7 to 50 : 0.2 m (trip time 0.1 ms) speed 0.0 2021-05-18T04:54:26.541Z,1621313666.541 [DAT](INFO): #Rx 3: Read range and direction messages. 2021-05-18T04:54:26.542Z,1621313666.542 [DAT](INFO): direction in vehicle frame: [ 0.326127 forward, 0.936511 starboard, -0.128796 keelward ] 2021-05-18T04:54:26.542Z,1621313666.542 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone 2021-05-18T04:54:26.542Z,1621313666.542 [DAT](INFO): publishing direction and range info 2021-05-18T04:54:26.546Z,1621313666.546 [DAT](INFO): checking for new query: numPingsReceived=3 elapsed TxPingTime=3.303708 2021-05-18T04:54:26.555Z,1621313666.555 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:54:26.556Z,1621313666.556 [lab_range_test:A.](INFO): direction in vehicle frame: [ 0.326127 forward, 0.936511 starboard, -0.128796 keelward ] 2021-05-18T04:54:26.557Z,1621313666.557 [lab_range_test:A.](DEBUG): processing response from DAT 2021-05-18T04:54:26.560Z,1621313666.560 [lab_range_test:A.](INFO): rotationFromVehicleToNavigationFrame_ = [ 0.999311,-0.037015,-0.002574;0.037067,0.999002,0.024904;0.001649,-0.024982,0.999687 ] 2021-05-18T04:54:26.560Z,1621313666.560 [lab_range_test:A.](INFO): rangeToContact_ = 0.200000 m 2021-05-18T04:54:26.561Z,1621313666.561 [lab_range_test:A.](INFO): direction in world frame: [ 0.360405 north, 0.926723 east, -0.106272 down ] 2021-05-18T04:54:26.562Z,1621313666.562 [lab_range_test:A.](INFO): relPosInFSK: [ 0.065225 forward, 0.187302 starboard, -0.025759 keelward ] 2021-05-18T04:54:26.563Z,1621313666.563 [lab_range_test:A.](INFO): relPosInNED: [ 0.072081 north, 0.185345 east, -0.021254 down ] 2021-05-18T04:54:26.564Z,1621313666.564 [lab_range_test:A.](DEBUG): Combining 5 samples. 2021-05-18T04:54:26.564Z,1621313666.564 [lab_range_test:A.](DEBUG): Could not read vehicle position; cannot calculate contact position. 2021-05-18T04:54:26.919Z,1621313666.919 [DAT](INFO): DAT read: 04:53:59.8658 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 512,-0.34, 0.285,-2.419,-2.690,-1.948, PHS= 2.228,-0.428,-0.758, RAW= 84.2, -7.4, CAL= 85.6, -11.1, ROT= 124.4, 11.1 2021-05-18T04:54:26.920Z,1621313666.920 [DAT](INFO): got valid direction response: 04:53:59.8658 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 512,-0.34, 0.285,-2.419,-2.690,-1.948, PHS= 2.228,-0.428,-0.758, RAW= 84.2, -7.4, CAL= 85.6, -11.1, ROT= 124.4, 11.1 2021-05-18T04:54:26.921Z,1621313666.921 [DAT](INFO): DAT read: Rx Time:04:54:01.2350 2021-05-18T04:54:26.921Z,1621313666.921 [DAT](INFO): received an acoustic signal 2021-05-18T04:54:26.922Z,1621313666.922 [DAT](INFO): #Rx 4: Read direction message, but no range. 2021-05-18T04:54:26.940Z,1621313666.940 [DAT](INFO): direction in vehicle frame: [ -0.554398 forward, 0.809678 starboard, 0.192522 keelward ] 2021-05-18T04:54:26.940Z,1621313666.940 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone 2021-05-18T04:54:26.952Z,1621313666.952 [DAT](INFO): checking for new query: numPingsReceived=4 elapsed TxPingTime=3.709808 2021-05-18T04:54:26.984Z,1621313666.984 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:54:27.267Z,1621313667.267 [DAT](INFO): DAT read: Bearing 68.4, -9.1 (Local) 2021-05-18T04:54:27.268Z,1621313667.268 [DAT](INFO): Local bearing/azimuth received: Bearing 68.4, -9.1 (Local) 2021-05-18T04:54:27.270Z,1621313667.270 [DAT](INFO): DAT read: Range 7 to 50 : 554.1 m (trip time 369.4 ms) speed 0.0 2021-05-18T04:54:27.275Z,1621313667.275 [DAT](INFO): DAT read: 04:54:01.2350 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 511,-0.18,-2.095,-2.425,-2.131,-2.155, PHS= 0.056,-0.226, 0.009, RAW= 141.1, 12.3, CAL= 141.6, 9.1, ROT= 68.4, -9.1 2021-05-18T04:54:27.276Z,1621313667.276 [DAT](INFO): got valid direction response: 04:54:01.2350 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 511,-0.18,-2.095,-2.425,-2.131,-2.155, PHS= 0.056,-0.226, 0.009, RAW= 141.1, 12.3, CAL= 141.6, 9.1, ROT= 68.4, -9.1 2021-05-18T04:54:27.276Z,1621313667.276 [DAT](INFO): #Rx 5: Read range and direction messages. 2021-05-18T04:54:27.277Z,1621313667.277 [DAT](INFO): direction in vehicle frame: [ 0.363491 forward, 0.918074 starboard, -0.158158 keelward ] 2021-05-18T04:54:27.278Z,1621313667.278 [DAT](INFO): publishing direction and range info 2021-05-18T04:54:27.364Z,1621313667.364 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:54:27.365Z,1621313667.365 [lab_range_test:A.](INFO): direction in vehicle frame: [ 0.363491 forward, 0.918074 starboard, -0.158158 keelward ] 2021-05-18T04:54:27.365Z,1621313667.365 [lab_range_test:A.](DEBUG): processing response from DAT 2021-05-18T04:54:27.375Z,1621313667.375 [lab_range_test:A.](INFO): rotationFromVehicleToNavigationFrame_ = [ 0.999282,-0.037795,-0.002456;0.037845,0.998973,0.024902;0.001513,-0.024977,0.999687 ] 2021-05-18T04:54:27.376Z,1621313667.376 [lab_range_test:A.](INFO): rangeToContact_ = 554.099976 m 2021-05-18T04:54:27.377Z,1621313667.377 [lab_range_test:A.](INFO): direction in world frame: [ 0.397736 north, 0.907344 east, -0.136139 down ] 2021-05-18T04:54:27.377Z,1621313667.377 [lab_range_test:A.](INFO): relPosInFSK: [ 201.410497 forward, 508.704860 starboard, -87.635383 keelward ] 2021-05-18T04:54:27.378Z,1621313667.378 [lab_range_test:A.](INFO): relPosInNED: [ 220.385277 north, 502.759085 east, -75.434867 down ] 2021-05-18T04:54:27.379Z,1621313667.379 [lab_range_test:A.](DEBUG): Combining 5 samples. 2021-05-18T04:54:27.379Z,1621313667.379 [lab_range_test:A.](DEBUG): Could not read vehicle position; cannot calculate contact position. 2021-05-18T04:54:27.675Z,1621313667.675 [DAT](INFO): DAT read: Rx Time:04:54:01.7351 2021-05-18T04:54:27.676Z,1621313667.676 [DAT](INFO): received an acoustic signal 2021-05-18T04:54:27.677Z,1621313667.677 [DAT](INFO): DAT read: Bearing 68.2, -9.6 (Local) 2021-05-18T04:54:27.677Z,1621313667.677 [DAT](INFO): Local bearing/azimuth received: Bearing 68.2, -9.6 (Local) 2021-05-18T04:54:27.680Z,1621313667.680 [DAT](INFO): DAT read: Range 7 to 50 : 554.3 m (trip time 369.5 ms) speed 0.0 2021-05-18T04:54:27.681Z,1621313667.681 [DAT](ERROR): #Rx 6: Read range message, but no direction. 2021-05-18T04:54:27.681Z,1621313667.681 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone 2021-05-18T04:54:27.725Z,1621313667.725 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:54:27.726Z,1621313667.726 [lab_range_test:A.](INFO): direction in vehicle frame: [ 0.363491 forward, 0.918074 starboard, -0.158158 keelward ] 2021-05-18T04:54:27.726Z,1621313667.726 [lab_range_test:A.](DEBUG): processing response from DAT 2021-05-18T04:54:27.740Z,1621313667.740 [lab_range_test:A.](INFO): rotationFromVehicleToNavigationFrame_ = [ 0.999307,-0.037128,-0.002490;0.037179,0.998997,0.024953;0.001561,-0.025029,0.999686 ] 2021-05-18T04:54:27.741Z,1621313667.741 [lab_range_test:A.](INFO): rangeToContact_ = 554.299988 m 2021-05-18T04:54:27.742Z,1621313667.742 [lab_range_test:A.](INFO): direction in world frame: [ 0.397125 north, 0.907616 east, -0.136104 down ] 2021-05-18T04:54:27.742Z,1621313667.742 [lab_range_test:A.](INFO): relPosInFSK: [ 201.483199 forward, 508.888486 starboard, -87.667017 keelward ] 2021-05-18T04:54:27.755Z,1621313667.755 [lab_range_test:A.](INFO): relPosInNED: [ 220.126657 north, 503.091572 east, -75.442721 down ] 2021-05-18T04:54:27.756Z,1621313667.756 [lab_range_test:A.](DEBUG): Combining 5 samples. 2021-05-18T04:54:27.756Z,1621313667.756 [lab_range_test:A.](DEBUG): Could not read vehicle position; cannot calculate contact position. 2021-05-18T04:54:28.083Z,1621313668.083 [DAT](INFO): DAT read: 04:54:01.7351 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 256,-0.05,-0.550,-0.864,-0.583,-0.604, PHS= 0.050,-0.216, 0.007, RAW= 141.3, 12.9, CAL= 141.8, 9.6, ROT= 68.2, -9.6 2021-05-18T04:54:28.084Z,1621313668.084 [DAT](INFO): got valid direction response: 04:54:01.7351 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 256,-0.05,-0.550,-0.864,-0.583,-0.604, PHS= 0.050,-0.216, 0.007, RAW= 141.3, 12.9, CAL= 141.8, 9.6, ROT= 68.2, -9.6 2021-05-18T04:54:28.085Z,1621313668.085 [DAT](INFO): #Rx 7: Read direction message, but no range. 2021-05-18T04:54:28.086Z,1621313668.086 [DAT](INFO): direction in vehicle frame: [ 0.366167 forward, 0.915483 starboard, -0.166769 keelward ] 2021-05-18T04:54:28.161Z,1621313668.161 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:54:28.506Z,1621313668.506 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:54:28.896Z,1621313668.896 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:54:29.313Z,1621313669.313 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:54:29.725Z,1621313669.725 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:54:30.128Z,1621313670.128 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:54:30.543Z,1621313670.543 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:54:30.922Z,1621313670.922 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:54:31.325Z,1621313671.325 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:54:31.739Z,1621313671.739 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:54:32.153Z,1621313672.153 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:54:32.545Z,1621313672.545 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:54:32.953Z,1621313672.953 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:54:32.954Z,1621313672.954 [lab_range_test:A.](INFO): update period (5.000000 s) has elapsed, querying... 2021-05-18T04:54:32.954Z,1621313672.954 [lab_range_test:A.](INFO): *** querying DAT *** 2021-05-18T04:54:33.326Z,1621313673.326 [DAT](INFO): ****** received valid address query ****** 2021-05-18T04:54:33.326Z,1621313673.326 [DAT](INFO): ****** received valid ping request ****** 2021-05-18T04:54:33.327Z,1621313673.327 [DAT](INFO): Querying Benthos address 50 with 5 pings in terminal homing one-way mode. 2021-05-18T04:54:33.329Z,1621313673.329 [DAT](INFO): ****** ping requested ****** 2021-05-18T04:54:33.395Z,1621313673.395 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:54:33.730Z,1621313673.730 [DAT](INFO): DAT read: user:9> 2021-05-18T04:54:33.731Z,1621313673.731 [DAT](INFO): DAT read: Tx time:04:54:08.1053 2021-05-18T04:54:33.731Z,1621313673.731 [DAT](INFO): Ping request sent. 2021-05-18T04:54:33.732Z,1621313673.732 [DAT](INFO): transmitted an acoustic signal 2021-05-18T04:54:33.732Z,1621313673.732 [DAT](INFO): publishing transmit ping time 2021-05-18T04:54:33.732Z,1621313673.732 [DAT](INFO): checking for new query: numPingsReceived=0 elapsed TxPingTime=0.000787 2021-05-18T04:54:33.740Z,1621313673.740 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:54:34.139Z,1621313674.139 [DAT](INFO): checking for new query: numPingsReceived=0 elapsed TxPingTime=0.407235 2021-05-18T04:54:34.153Z,1621313674.153 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:54:34.543Z,1621313674.543 [DAT](INFO): checking for new query: numPingsReceived=0 elapsed TxPingTime=0.811178 2021-05-18T04:54:34.565Z,1621313674.565 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:54:34.946Z,1621313674.946 [DAT](INFO): checking for new query: numPingsReceived=0 elapsed TxPingTime=1.214496 2021-05-18T04:54:34.970Z,1621313674.970 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:54:35.361Z,1621313675.361 [DAT](INFO): checking for new query: numPingsReceived=0 elapsed TxPingTime=1.629764 2021-05-18T04:54:35.390Z,1621313675.390 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:54:35.765Z,1621313675.765 [DAT](INFO): checking for new query: numPingsReceived=0 elapsed TxPingTime=2.033014 2021-05-18T04:54:35.777Z,1621313675.777 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:54:36.174Z,1621313676.174 [DAT](INFO): DAT read: Rx Time:04:54:10.2350 2021-05-18T04:54:36.175Z,1621313676.175 [DAT](INFO): received an acoustic signal 2021-05-18T04:54:36.176Z,1621313676.176 [DAT](INFO): DAT read: Bearing 71.1, -6.8 (Local) 2021-05-18T04:54:36.177Z,1621313676.177 [DAT](INFO): Local bearing/azimuth received: Bearing 71.1, -6.8 (Local) 2021-05-18T04:54:36.179Z,1621313676.179 [DAT](INFO): DAT read: Range 7 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0 2021-05-18T04:54:36.180Z,1621313676.180 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2021-05-18T04:54:36.180Z,1621313676.180 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone 2021-05-18T04:54:36.181Z,1621313676.181 [DAT](INFO): checking for new query: numPingsReceived=1 elapsed TxPingTime=2.449598 2021-05-18T04:54:36.193Z,1621313676.193 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:54:36.195Z,1621313676.195 [lab_range_test:A.](INFO): direction in vehicle frame: [ 0.366167 forward, 0.915483 starboard, -0.166769 keelward ] 2021-05-18T04:54:36.195Z,1621313676.195 [lab_range_test:A.](DEBUG): processing response from DAT 2021-05-18T04:54:36.197Z,1621313676.197 [lab_range_test:A.](INFO): rotationFromVehicleToNavigationFrame_ = [ 0.999340,-0.036240,-0.002642;0.036295,0.999029,0.024978;0.001734,-0.025057,0.999685 ] 2021-05-18T04:54:36.197Z,1621313676.197 [lab_range_test:A.](INFO): rangeToContact_ = 0.300000 m 2021-05-18T04:54:36.198Z,1621313676.198 [lab_range_test:A.](INFO): direction in world frame: [ 0.398864 north, 0.905503 east, -0.144817 down ] 2021-05-18T04:54:36.227Z,1621313676.227 [lab_range_test:A.](INFO): relPosInFSK: [ 0.109850 forward, 0.274645 starboard, -0.050031 keelward ] 2021-05-18T04:54:36.228Z,1621313676.228 [lab_range_test:A.](INFO): relPosInNED: [ 0.119659 north, 0.271651 east, -0.043445 down ] 2021-05-18T04:54:36.228Z,1621313676.228 [lab_range_test:A.](DEBUG): Combining 5 samples. 2021-05-18T04:54:36.228Z,1621313676.228 [lab_range_test:A.](DEBUG): Could not read vehicle position; cannot calculate contact position. 2021-05-18T04:54:36.584Z,1621313676.584 [DAT](INFO): DAT read: 04:54:10.2350 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 464, 0.10,-2.425,-2.692,-2.461,-2.485, PHS= 0.056,-0.163, 0.009, RAW= 138.3, 9.9, CAL= 138.9, 6.8, ROT= 71.1, -6.8 2021-05-18T04:54:36.585Z,1621313676.585 [DAT](INFO): got valid direction response: 04:54:10.2350 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 464, 0.10,-2.425,-2.692,-2.461,-2.485, PHS= 0.056,-0.163, 0.009, RAW= 138.3, 9.9, CAL= 138.9, 6.8, ROT= 71.1, -6.8 2021-05-18T04:54:36.586Z,1621313676.586 [DAT](INFO): DAT read: Rx Time:04:54:10.7349 2021-05-18T04:54:36.586Z,1621313676.586 [DAT](INFO): received an acoustic signal 2021-05-18T04:54:36.588Z,1621313676.588 [DAT](INFO): DAT read: Bearing 71.6, -6.1 (Local) 2021-05-18T04:54:36.588Z,1621313676.588 [DAT](INFO): Local bearing/azimuth received: Bearing 71.6, -6.1 (Local) 2021-05-18T04:54:36.590Z,1621313676.590 [DAT](INFO): DAT read: Range 7 to 50 : 0.2 m (trip time 0.1 ms) speed 0.0 2021-05-18T04:54:36.592Z,1621313676.592 [DAT](INFO): #Rx 2: Read range and direction messages. 2021-05-18T04:54:36.593Z,1621313676.593 [DAT](INFO): direction in vehicle frame: [ 0.321639 forward, 0.939430 starboard, -0.118404 keelward ] 2021-05-18T04:54:36.593Z,1621313676.593 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone 2021-05-18T04:54:36.593Z,1621313676.593 [DAT](INFO): publishing direction and range info 2021-05-18T04:54:36.597Z,1621313676.597 [DAT](INFO): checking for new query: numPingsReceived=2 elapsed TxPingTime=2.865120 2021-05-18T04:54:36.606Z,1621313676.606 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:54:36.608Z,1621313676.608 [lab_range_test:A.](INFO): direction in vehicle frame: [ 0.321639 forward, 0.939430 starboard, -0.118404 keelward ] 2021-05-18T04:54:36.608Z,1621313676.608 [lab_range_test:A.](DEBUG): processing response from DAT 2021-05-18T04:54:36.611Z,1621313676.611 [lab_range_test:A.](INFO): rotationFromVehicleToNavigationFrame_ = [ 0.999302,-0.037264,-0.002648;0.037318,0.998994,0.024861;0.001719,-0.024943,0.999687 ] 2021-05-18T04:54:36.611Z,1621313676.611 [lab_range_test:A.](INFO): rangeToContact_ = 0.200000 m 2021-05-18T04:54:36.612Z,1621313676.612 [lab_range_test:A.](INFO): direction in world frame: [ 0.356268 north, 0.929453 east, -0.095863 down ] 2021-05-18T04:54:36.613Z,1621313676.613 [lab_range_test:A.](INFO): relPosInFSK: [ 0.064328 forward, 0.187886 starboard, -0.023681 keelward ] 2021-05-18T04:54:36.614Z,1621313676.614 [lab_range_test:A.](INFO): relPosInNED: [ 0.071254 north, 0.185891 east, -0.019173 down ] 2021-05-18T04:54:36.614Z,1621313676.614 [lab_range_test:A.](DEBUG): Combining 5 samples. 2021-05-18T04:54:36.614Z,1621313676.614 [lab_range_test:A.](DEBUG): Could not read vehicle position; cannot calculate contact position. 2021-05-18T04:54:36.983Z,1621313676.983 [DAT](INFO): DAT read: 04:54:10.7349 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 495, 0.19, 3.012, 2.732, 2.971, 2.945, PHS= 0.063,-0.170, 0.011, RAW= 137.7, 9.2, CAL= 138.4, 6.1, ROT= 71.6, -6.1 2021-05-18T04:54:36.985Z,1621313676.985 [DAT](INFO): got valid direction response: 04:54:10.7349 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 495, 0.19, 3.012, 2.732, 2.971, 2.945, PHS= 0.063,-0.170, 0.011, RAW= 137.7, 9.2, CAL= 138.4, 6.1, ROT= 71.6, -6.1 2021-05-18T04:54:36.986Z,1621313676.986 [DAT](INFO): DAT read: Rx Time:04:54:11.2348 2021-05-18T04:54:36.986Z,1621313676.986 [DAT](INFO): received an acoustic signal 2021-05-18T04:54:36.987Z,1621313676.987 [DAT](INFO): DAT read: Bearing 70.9, -7.0 (Local) 2021-05-18T04:54:36.988Z,1621313676.988 [DAT](INFO): Local bearing/azimuth received: Bearing 70.9, -7.0 (Local) 2021-05-18T04:54:36.988Z,1621313676.988 [DAT](INFO): #Rx 3: Read direction message, but no range. 2021-05-18T04:54:36.989Z,1621313676.989 [DAT](INFO): direction in vehicle frame: [ 0.313862 forward, 0.943503 starboard, -0.106264 keelward ] 2021-05-18T04:54:36.990Z,1621313676.990 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone 2021-05-18T04:54:36.993Z,1621313676.993 [DAT](INFO): checking for new query: numPingsReceived=3 elapsed TxPingTime=3.261472 2021-05-18T04:54:37.002Z,1621313677.002 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:54:37.369Z,1621313677.369 [DAT](INFO): DAT read: Range 7 to 50 : 0.0 m (trip time 0.0 ms) speed 0.0 2021-05-18T04:54:37.369Z,1621313677.369 [DAT](INFO): unknown deviceResponse_: Range 7 to 50 : 0.0 m (trip time 0.0 ms) speed 0.0 2021-05-18T04:54:37.374Z,1621313677.374 [DAT](INFO): DAT read: 04:54:11.2348 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 510, 0.41, 1.456, 1.182, 1.419, 1.396, PHS= 0.056,-0.169, 0.009, RAW= 138.4, 10.2, CAL= 139.1, 7.0, ROT= 70.9, -7.0 2021-05-18T04:54:37.376Z,1621313677.376 [DAT](INFO): got valid direction response: 04:54:11.2348 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 510, 0.41, 1.456, 1.182, 1.419, 1.396, PHS= 0.056,-0.169, 0.009, RAW= 138.4, 10.2, CAL= 139.1, 7.0, ROT= 70.9, -7.0 2021-05-18T04:54:37.376Z,1621313677.376 [DAT](INFO): #Rx 4: Read direction message, but no range. 2021-05-18T04:54:37.377Z,1621313677.377 [DAT](INFO): direction in vehicle frame: [ 0.324779 forward, 0.937905 starboard, -0.121869 keelward ] 2021-05-18T04:54:37.381Z,1621313677.381 [DAT](INFO): checking for new query: numPingsReceived=4 elapsed TxPingTime=3.649537 2021-05-18T04:54:37.419Z,1621313677.419 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:54:37.770Z,1621313677.770 [DAT](INFO): DAT read: Rx Time:04:54:11.7349 2021-05-18T04:54:37.770Z,1621313677.770 [DAT](INFO): received an acoustic signal 2021-05-18T04:54:37.772Z,1621313677.772 [DAT](INFO): DAT read: Range 7 to 50 : 0.2 m (trip time 0.1 ms) speed 0.0 2021-05-18T04:54:37.773Z,1621313677.773 [DAT](ERROR): #Rx 5: Read range message, but no direction. 2021-05-18T04:54:37.773Z,1621313677.773 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone 2021-05-18T04:54:37.789Z,1621313677.789 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:54:37.790Z,1621313677.790 [lab_range_test:A.](INFO): direction in vehicle frame: [ 0.324779 forward, 0.937905 starboard, -0.121869 keelward ] 2021-05-18T04:54:37.791Z,1621313677.791 [lab_range_test:A.](DEBUG): processing response from DAT 2021-05-18T04:54:37.793Z,1621313677.793 [lab_range_test:A.](INFO): rotationFromVehicleToNavigationFrame_ = [ 0.999329,-0.036528,-0.002559;0.036580,0.999019,0.024973;0.001644,-0.025049,0.999685 ] 2021-05-18T04:54:37.793Z,1621313677.793 [lab_range_test:A.](INFO): rangeToContact_ = 0.200000 m 2021-05-18T04:54:37.794Z,1621313677.794 [lab_range_test:A.](INFO): direction in world frame: [ 0.358670 north, 0.928174 east, -0.099240 down ] 2021-05-18T04:54:37.795Z,1621313677.795 [lab_range_test:A.](INFO): relPosInFSK: [ 0.064956 forward, 0.187581 starboard, -0.024374 keelward ] 2021-05-18T04:54:37.796Z,1621313677.796 [lab_range_test:A.](INFO): relPosInNED: [ 0.071734 north, 0.185635 east, -0.019848 down ] 2021-05-18T04:54:37.797Z,1621313677.797 [lab_range_test:A.](DEBUG): Combining 5 samples. 2021-05-18T04:54:37.797Z,1621313677.797 [lab_range_test:A.](DEBUG): Could not read vehicle position; cannot calculate contact position. 2021-05-18T04:54:38.198Z,1621313678.198 [DAT](INFO): DAT read: Rx Time:04:54:12.2349 2021-05-18T04:54:38.198Z,1621313678.198 [DAT](INFO): received an acoustic signal 2021-05-18T04:54:38.200Z,1621313678.200 [DAT](INFO): DAT read: Bearing 68.2, -9.2 (Local) 2021-05-18T04:54:38.200Z,1621313678.200 [DAT](INFO): Local bearing/azimuth received: Bearing 68.2, -9.2 (Local) 2021-05-18T04:54:38.202Z,1621313678.202 [DAT](INFO): DAT read: Range 7 to 50 : 0.2 m (trip time 0.1 ms) speed 0.0 2021-05-18T04:54:38.239Z,1621313678.239 [DAT](INFO): DAT read: 04:54:12.2349 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 511,-0.17,-0.498,-0.830,-0.534,-0.557, PHS= 0.055,-0.229, 0.008, RAW= 141.2, 12.5, CAL= 141.8, 9.2, ROT= 68.2, -9.2 2021-05-18T04:54:38.240Z,1621313678.240 [DAT](INFO): got valid direction response: 04:54:12.2349 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 511,-0.17,-0.498,-0.830,-0.534,-0.557, PHS= 0.055,-0.229, 0.008, RAW= 141.2, 12.5, CAL= 141.8, 9.2, ROT= 68.2, -9.2 2021-05-18T04:54:38.241Z,1621313678.241 [DAT](INFO): #Rx 6: Read range and direction messages. 2021-05-18T04:54:38.242Z,1621313678.242 [DAT](INFO): direction in vehicle frame: [ 0.366591 forward, 0.916542 starboard, -0.159881 keelward ] 2021-05-18T04:54:38.242Z,1621313678.242 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone 2021-05-18T04:54:38.242Z,1621313678.242 [DAT](INFO): publishing direction and range info 2021-05-18T04:54:38.269Z,1621313678.269 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:54:38.270Z,1621313678.270 [lab_range_test:A.](INFO): direction in vehicle frame: [ 0.366591 forward, 0.916542 starboard, -0.159881 keelward ] 2021-05-18T04:54:38.270Z,1621313678.270 [lab_range_test:A.](DEBUG): processing response from DAT 2021-05-18T04:54:38.276Z,1621313678.276 [lab_range_test:A.](INFO): rotationFromVehicleToNavigationFrame_ = [ 0.999295,-0.037469,-0.002535;0.037521,0.998986,0.024899;0.001599,-0.024977,0.999687 ] 2021-05-18T04:54:38.277Z,1621313678.277 [lab_range_test:A.](INFO): rangeToContact_ = 0.200000 m 2021-05-18T04:54:38.277Z,1621313678.277 [lab_range_test:A.](INFO): direction in world frame: [ 0.400466 north, 0.905870 east, -0.137939 down ] 2021-05-18T04:54:38.278Z,1621313678.278 [lab_range_test:A.](INFO): relPosInFSK: [ 0.073318 forward, 0.183308 starboard, -0.031976 keelward ] 2021-05-18T04:54:38.279Z,1621313678.279 [lab_range_test:A.](INFO): relPosInNED: [ 0.080093 north, 0.181174 east, -0.027588 down ] 2021-05-18T04:54:38.283Z,1621313678.283 [lab_range_test:A.](DEBUG): Combining 5 samples. 2021-05-18T04:54:38.283Z,1621313678.283 [lab_range_test:A.](DEBUG): Could not read vehicle position; cannot calculate contact position. 2021-05-18T04:54:38.629Z,1621313678.629 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:54:39.026Z,1621313679.026 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:54:39.397Z,1621313679.397 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:54:39.807Z,1621313679.807 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:54:40.202Z,1621313680.202 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:54:40.609Z,1621313680.609 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:54:41.025Z,1621313681.025 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:54:41.441Z,1621313681.441 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:54:41.841Z,1621313681.841 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:54:42.225Z,1621313682.225 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:54:42.629Z,1621313682.629 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:54:43.042Z,1621313683.042 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:54:43.450Z,1621313683.450 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:54:43.451Z,1621313683.451 [lab_range_test:A.](INFO): update period (5.000000 s) has elapsed, querying... 2021-05-18T04:54:43.451Z,1621313683.451 [lab_range_test:A.](INFO): *** querying DAT *** 2021-05-18T04:54:43.830Z,1621313683.830 [DAT](INFO): ****** received valid address query ****** 2021-05-18T04:54:43.830Z,1621313683.830 [DAT](INFO): ****** received valid ping request ****** 2021-05-18T04:54:43.831Z,1621313683.831 [DAT](INFO): Querying Benthos address 50 with 5 pings in terminal homing one-way mode. 2021-05-18T04:54:43.833Z,1621313683.833 [DAT](INFO): ****** ping requested ****** 2021-05-18T04:54:43.846Z,1621313683.846 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:54:44.245Z,1621313684.245 [DAT](INFO): DAT read: user:10> 2021-05-18T04:54:44.246Z,1621313684.246 [DAT](INFO): DAT read: Tx time:04:54:18.6052 2021-05-18T04:54:44.246Z,1621313684.246 [DAT](INFO): Ping request sent. 2021-05-18T04:54:44.246Z,1621313684.246 [DAT](INFO): transmitted an acoustic signal 2021-05-18T04:54:44.246Z,1621313684.246 [DAT](INFO): publishing transmit ping time 2021-05-18T04:54:44.247Z,1621313684.247 [DAT](INFO): checking for new query: numPingsReceived=0 elapsed TxPingTime=0.000962 2021-05-18T04:54:44.261Z,1621313684.261 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:54:44.661Z,1621313684.661 [DAT](INFO): checking for new query: numPingsReceived=0 elapsed TxPingTime=0.414689 2021-05-18T04:54:44.673Z,1621313684.673 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:54:45.062Z,1621313685.062 [DAT](INFO): checking for new query: numPingsReceived=0 elapsed TxPingTime=0.815607 2021-05-18T04:54:45.084Z,1621313685.084 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:54:45.450Z,1621313685.450 [DAT](INFO): checking for new query: numPingsReceived=0 elapsed TxPingTime=1.203880 2021-05-18T04:54:45.458Z,1621313685.458 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:54:45.850Z,1621313685.850 [DAT](INFO): checking for new query: numPingsReceived=0 elapsed TxPingTime=1.604182 2021-05-18T04:54:45.861Z,1621313685.861 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:54:46.260Z,1621313686.260 [DAT](INFO): checking for new query: numPingsReceived=0 elapsed TxPingTime=2.013423 2021-05-18T04:54:46.281Z,1621313686.281 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:54:46.663Z,1621313686.663 [DAT](INFO): DAT read: Rx Time:04:54:20.7349 2021-05-18T04:54:46.663Z,1621313686.663 [DAT](INFO): received an acoustic signal 2021-05-18T04:54:46.665Z,1621313686.665 [DAT](INFO): DAT read: Bearing 69.6, -7.8 (Local) 2021-05-18T04:54:46.665Z,1621313686.665 [DAT](INFO): Local bearing/azimuth received: Bearing 69.6, -7.8 (Local) 2021-05-18T04:54:46.696Z,1621313686.696 [DAT](INFO): DAT read: Range 7 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0 2021-05-18T04:54:46.701Z,1621313686.701 [DAT](INFO): DAT read: 04:54:20.7349 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 480, 0.04,-1.081,-1.354,-1.112,-1.136, PHS= 0.051,-0.173, 0.009, RAW= 139.8, 11.0, CAL= 140.4, 7.8, ROT= 69.6, -7.8 2021-05-18T04:54:46.702Z,1621313686.702 [DAT](INFO): got valid direction response: 04:54:20.7349 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 480, 0.04,-1.081,-1.354,-1.112,-1.136, PHS= 0.051,-0.173, 0.009, RAW= 139.8, 11.0, CAL= 140.4, 7.8, ROT= 69.6, -7.8 2021-05-18T04:54:46.702Z,1621313686.702 [DAT](INFO): #Rx 1: Read range and direction messages. 2021-05-18T04:54:46.708Z,1621313686.708 [DAT](INFO): direction in vehicle frame: [ 0.345347 forward, 0.928610 starboard, -0.135716 keelward ] 2021-05-18T04:54:46.708Z,1621313686.708 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone 2021-05-18T04:54:46.708Z,1621313686.708 [DAT](INFO): publishing direction and range info 2021-05-18T04:54:46.715Z,1621313686.715 [DAT](INFO): checking for new query: numPingsReceived=1 elapsed TxPingTime=2.469213 2021-05-18T04:54:46.735Z,1621313686.735 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:54:46.736Z,1621313686.736 [lab_range_test:A.](INFO): direction in vehicle frame: [ 0.345347 forward, 0.928610 starboard, -0.135716 keelward ] 2021-05-18T04:54:46.736Z,1621313686.736 [lab_range_test:A.](DEBUG): processing response from DAT 2021-05-18T04:54:46.738Z,1621313686.738 [lab_range_test:A.](INFO): rotationFromVehicleToNavigationFrame_ = [ 0.999278,-0.037911,-0.002593;0.037963,0.998971,0.024820;0.001650,-0.024900,0.999689 ] 2021-05-18T04:54:46.739Z,1621313686.739 [lab_range_test:A.](INFO): rangeToContact_ = 0.300000 m 2021-05-18T04:54:46.748Z,1621313686.748 [lab_range_test:A.](INFO): direction in world frame: [ 0.380127 north, 0.917941 east, -0.113521 down ] 2021-05-18T04:54:46.748Z,1621313686.748 [lab_range_test:A.](INFO): relPosInFSK: [ 0.103604 forward, 0.278583 starboard, -0.040715 keelward ] 2021-05-18T04:54:46.749Z,1621313686.749 [lab_range_test:A.](INFO): relPosInNED: [ 0.114038 north, 0.275382 east, -0.034056 down ] 2021-05-18T04:54:46.749Z,1621313686.749 [lab_range_test:A.](DEBUG): Combining 5 samples. 2021-05-18T04:54:46.750Z,1621313686.750 [lab_range_test:A.](DEBUG): Could not read vehicle position; cannot calculate contact position. 2021-05-18T04:54:47.079Z,1621313687.079 [DAT](INFO): DAT read: Rx Time:04:54:21.2347 2021-05-18T04:54:47.079Z,1621313687.079 [DAT](INFO): received an acoustic signal 2021-05-18T04:54:47.080Z,1621313687.080 [DAT](INFO): DAT read: Bearing 71.3, -6.3 (Local) 2021-05-18T04:54:47.081Z,1621313687.081 [DAT](INFO): Local bearing/azimuth received: Bearing 71.3, -6.3 (Local) 2021-05-18T04:54:47.082Z,1621313687.082 [DAT](INFO): DAT read: Range 7 to 50 : 0.0 m (trip time 0.0 ms) speed 0.0 2021-05-18T04:54:47.083Z,1621313687.083 [DAT](INFO): unknown deviceResponse_: Range 7 to 50 : 0.0 m (trip time 0.0 ms) speed 0.0 2021-05-18T04:54:47.084Z,1621313687.084 [DAT](INFO): checking for new query: numPingsReceived=1 elapsed TxPingTime=2.838001 2021-05-18T04:54:47.124Z,1621313687.124 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:54:47.500Z,1621313687.500 [DAT](INFO): DAT read: 04:54:21.2347 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 478, 0.16,-3.000, 3.019,-3.037,-3.062, PHS= 0.057,-0.159, 0.010, RAW= 138.0, 9.4, CAL= 138.7, 6.3, ROT= 71.3, -6.3 2021-05-18T04:54:47.501Z,1621313687.501 [DAT](INFO): got valid direction response: 04:54:21.2347 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 478, 0.16,-3.000, 3.019,-3.037,-3.062, PHS= 0.057,-0.159, 0.010, RAW= 138.0, 9.4, CAL= 138.7, 6.3, ROT= 71.3, -6.3 2021-05-18T04:54:47.502Z,1621313687.502 [DAT](INFO): DAT read: Rx Time:04:54:21.7348 2021-05-18T04:54:47.502Z,1621313687.502 [DAT](INFO): received an acoustic signal 2021-05-18T04:54:47.504Z,1621313687.504 [DAT](INFO): DAT read: Bearing 73.2, -5.9 (Local) 2021-05-18T04:54:47.504Z,1621313687.504 [DAT](INFO): Local bearing/azimuth received: Bearing 73.2, -5.9 (Local) 2021-05-18T04:54:47.505Z,1621313687.505 [DAT](INFO): DAT read: Range 7 to 50 : 0.2 m (trip time 0.1 ms) speed 0.0 2021-05-18T04:54:47.506Z,1621313687.506 [DAT](INFO): #Rx 2: Read range and direction messages. 2021-05-18T04:54:47.508Z,1621313687.508 [DAT](INFO): direction in vehicle frame: [ 0.318677 forward, 0.941490 starboard, -0.109734 keelward ] 2021-05-18T04:54:47.508Z,1621313687.508 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone 2021-05-18T04:54:47.508Z,1621313687.508 [DAT](INFO): publishing direction and range info 2021-05-18T04:54:47.512Z,1621313687.512 [DAT](INFO): checking for new query: numPingsReceived=2 elapsed TxPingTime=3.266043 2021-05-18T04:54:47.549Z,1621313687.549 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:54:47.550Z,1621313687.550 [lab_range_test:A.](INFO): direction in vehicle frame: [ 0.318677 forward, 0.941490 starboard, -0.109734 keelward ] 2021-05-18T04:54:47.550Z,1621313687.550 [lab_range_test:A.](DEBUG): processing response from DAT 2021-05-18T04:54:47.557Z,1621313687.557 [lab_range_test:A.](INFO): rotationFromVehicleToNavigationFrame_ = [ 0.999349,-0.035999,-0.002567;0.036052,0.999036,0.025030;0.001663,-0.025106,0.999683 ] 2021-05-18T04:54:47.557Z,1621313687.557 [lab_range_test:A.](INFO): rangeToContact_ = 0.200000 m 2021-05-18T04:54:47.558Z,1621313687.558 [lab_range_test:A.](INFO): direction in world frame: [ 0.352229 north, 0.931866 east, -0.086952 down ] 2021-05-18T04:54:47.564Z,1621313687.564 [lab_range_test:A.](INFO): relPosInFSK: [ 0.063735 forward, 0.188298 starboard, -0.021947 keelward ] 2021-05-18T04:54:47.565Z,1621313687.565 [lab_range_test:A.](INFO): relPosInNED: [ 0.070446 north, 0.186373 east, -0.017390 down ] 2021-05-18T04:54:47.565Z,1621313687.565 [lab_range_test:A.](DEBUG): Combining 5 samples. 2021-05-18T04:54:47.565Z,1621313687.565 [lab_range_test:A.](DEBUG): Could not read vehicle position; cannot calculate contact position. 2021-05-18T04:54:47.885Z,1621313687.885 [DAT](INFO): DAT read: 04:54:21.7348 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 511, 0.32,-2.046,-2.338,-2.097,-2.120, PHS= 0.070,-0.174, 0.008, RAW= 135.8, 8.8, CAL= 136.8, 5.9, ROT= 73.2, -5.9 2021-05-18T04:54:47.888Z,1621313687.888 [DAT](INFO): got valid direction response: 04:54:21.7348 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 511, 0.32,-2.046,-2.338,-2.097,-2.120, PHS= 0.070,-0.174, 0.008, RAW= 135.8, 8.8, CAL= 136.8, 5.9, ROT= 73.2, -5.9 2021-05-18T04:54:47.888Z,1621313687.888 [DAT](INFO): #Rx 3: Read direction message, but no range. 2021-05-18T04:54:47.889Z,1621313687.889 [DAT](INFO): direction in vehicle frame: [ 0.287501 forward, 0.952248 starboard, -0.102793 keelward ] 2021-05-18T04:54:47.893Z,1621313687.893 [DAT](INFO): checking for new query: numPingsReceived=3 elapsed TxPingTime=3.647142 2021-05-18T04:54:47.930Z,1621313687.930 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:54:48.276Z,1621313688.276 [DAT](INFO): DAT read: Rx Time:04:54:22.2347 2021-05-18T04:54:48.276Z,1621313688.276 [DAT](INFO): received an acoustic signal 2021-05-18T04:54:48.277Z,1621313688.277 [DAT](INFO): DAT read: Bearing 69.6, -8.2 (Local) 2021-05-18T04:54:48.278Z,1621313688.278 [DAT](INFO): Local bearing/azimuth received: Bearing 69.6, -8.2 (Local) 2021-05-18T04:54:48.280Z,1621313688.280 [DAT](INFO): DAT read: Range 7 to 50 : 0.0 m (trip time 0.0 ms) speed 0.0 2021-05-18T04:54:48.281Z,1621313688.281 [DAT](INFO): unknown deviceResponse_: Range 7 to 50 : 0.0 m (trip time 0.0 ms) speed 0.0 2021-05-18T04:54:48.285Z,1621313688.285 [DAT](INFO): DAT read: 04:54:22.2347 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 511,-0.49, 2.099, 1.777, 2.058, 2.035, PHS= 0.060,-0.214, 0.009, RAW= 139.8, 11.5, CAL= 140.4, 8.2, ROT= 69.6, -8.2 2021-05-18T04:54:48.286Z,1621313688.286 [DAT](INFO): got valid direction response: 04:54:22.2347 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 511,-0.49, 2.099, 1.777, 2.058, 2.035, PHS= 0.060,-0.214, 0.009, RAW= 139.8, 11.5, CAL= 140.4, 8.2, ROT= 69.6, -8.2 2021-05-18T04:54:48.287Z,1621313688.287 [DAT](INFO): #Rx 4: Read direction message, but no range. 2021-05-18T04:54:48.288Z,1621313688.288 [DAT](INFO): direction in vehicle frame: [ 0.345008 forward, 0.927699 starboard, -0.142629 keelward ] 2021-05-18T04:54:48.288Z,1621313688.288 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone 2021-05-18T04:54:48.291Z,1621313688.291 [DAT](INFO): checking for new query: numPingsReceived=4 elapsed TxPingTime=4.044761 2021-05-18T04:54:48.299Z,1621313688.299 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:54:48.694Z,1621313688.694 [DAT](INFO): DAT read: Rx Time:04:54:22.7349 2021-05-18T04:54:48.694Z,1621313688.694 [DAT](INFO): received an acoustic signal 2021-05-18T04:54:48.695Z,1621313688.695 [DAT](INFO): DAT read: Bearing 81.8, -3.2 (Local) 2021-05-18T04:54:48.696Z,1621313688.696 [DAT](INFO): Local bearing/azimuth received: Bearing 81.8, -3.2 (Local) 2021-05-18T04:54:48.698Z,1621313688.698 [DAT](INFO): DAT read: Range 7 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0 2021-05-18T04:54:48.703Z,1621313688.703 [DAT](INFO): DAT read: 04:54:22.7349 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 0, 0.68,-0.123,-1.085,-0.486,-0.487, PHS= 0.359,-0.554,-0.014, RAW= 126.0, 5.3, CAL= 128.2, 3.2, ROT= 81.8, -3.2 2021-05-18T04:54:48.705Z,1621313688.705 [DAT](INFO): got valid direction response: 04:54:22.7349 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 0, 0.68,-0.123,-1.085,-0.486,-0.487, PHS= 0.359,-0.554,-0.014, RAW= 126.0, 5.3, CAL= 128.2, 3.2, ROT= 81.8, -3.2 2021-05-18T04:54:48.705Z,1621313688.705 [DAT](INFO): #Rx 5: Read range and direction messages. 2021-05-18T04:54:48.706Z,1621313688.706 [DAT](INFO): direction in vehicle frame: [ 0.142406 forward, 0.988233 starboard, -0.055822 keelward ] 2021-05-18T04:54:48.707Z,1621313688.707 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone 2021-05-18T04:54:48.707Z,1621313688.707 [DAT](INFO): publishing direction and range info 2021-05-18T04:54:48.717Z,1621313688.717 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:54:48.718Z,1621313688.718 [lab_range_test:A.](INFO): direction in vehicle frame: [ 0.142406 forward, 0.988233 starboard, -0.055822 keelward ] 2021-05-18T04:54:48.718Z,1621313688.718 [lab_range_test:A.](DEBUG): processing response from DAT 2021-05-18T04:54:48.721Z,1621313688.721 [lab_range_test:A.](INFO): rotationFromVehicleToNavigationFrame_ = [ 0.999297,-0.037405,-0.002594;0.037458,0.998989,0.024862;0.001662,-0.024941,0.999688 ] 2021-05-18T04:54:48.721Z,1621313688.721 [lab_range_test:A.](INFO): rangeToContact_ = 0.300000 m 2021-05-18T04:54:48.722Z,1621313688.722 [lab_range_test:A.](INFO): direction in world frame: [ 0.179231 north, 0.983299 east, -0.031604 down ] 2021-05-18T04:54:48.723Z,1621313688.723 [lab_range_test:A.](INFO): relPosInFSK: [ 0.042722 forward, 0.296470 starboard, -0.016746 keelward ] 2021-05-18T04:54:48.724Z,1621313688.724 [lab_range_test:A.](INFO): relPosInNED: [ 0.053769 north, 0.294990 east, -0.009481 down ] 2021-05-18T04:54:48.724Z,1621313688.724 [lab_range_test:A.](DEBUG): Combining 5 samples. 2021-05-18T04:54:48.725Z,1621313688.725 [lab_range_test:A.](DEBUG): Could not read vehicle position; cannot calculate contact position. 2021-05-18T04:54:49.114Z,1621313689.114 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:54:49.495Z,1621313689.495 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:54:49.905Z,1621313689.905 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:54:50.314Z,1621313690.314 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:54:50.733Z,1621313690.733 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:54:51.143Z,1621313691.143 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:54:51.520Z,1621313691.520 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:54:51.929Z,1621313691.929 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:54:52.339Z,1621313692.339 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:54:52.729Z,1621313692.729 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:54:53.145Z,1621313693.145 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:54:53.561Z,1621313693.561 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:54:53.961Z,1621313693.961 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:54:53.962Z,1621313693.962 [lab_range_test:A.](INFO): update period (5.000000 s) has elapsed, querying... 2021-05-18T04:54:53.962Z,1621313693.962 [lab_range_test:A.](INFO): *** querying DAT *** 2021-05-18T04:54:54.334Z,1621313694.334 [DAT](INFO): ****** received valid address query ****** 2021-05-18T04:54:54.335Z,1621313694.335 [DAT](INFO): ****** received valid ping request ****** 2021-05-18T04:54:54.335Z,1621313694.335 [DAT](INFO): Querying Benthos address 50 with 5 pings in terminal homing one-way mode. 2021-05-18T04:54:54.337Z,1621313694.337 [DAT](INFO): ****** ping requested ****** 2021-05-18T04:54:54.350Z,1621313694.350 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:54:54.738Z,1621313694.738 [DAT](INFO): DAT read: user:11> 2021-05-18T04:54:54.739Z,1621313694.739 [DAT](INFO): DAT read: Tx time:04:54:29.1051 2021-05-18T04:54:54.739Z,1621313694.739 [DAT](INFO): Ping request sent. 2021-05-18T04:54:54.739Z,1621313694.739 [DAT](INFO): transmitted an acoustic signal 2021-05-18T04:54:54.740Z,1621313694.740 [DAT](INFO): publishing transmit ping time 2021-05-18T04:54:54.740Z,1621313694.740 [DAT](INFO): checking for new query: numPingsReceived=0 elapsed TxPingTime=0.001039 2021-05-18T04:54:54.753Z,1621313694.753 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:54:55.157Z,1621313695.157 [DAT](INFO): checking for new query: numPingsReceived=0 elapsed TxPingTime=0.417339 2021-05-18T04:54:55.164Z,1621313695.164 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:54:55.547Z,1621313695.547 [DAT](INFO): checking for new query: numPingsReceived=0 elapsed TxPingTime=0.807322 2021-05-18T04:54:55.554Z,1621313695.554 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:54:55.961Z,1621313695.961 [DAT](INFO): checking for new query: numPingsReceived=0 elapsed TxPingTime=1.221726 2021-05-18T04:54:55.973Z,1621313695.973 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:54:56.369Z,1621313696.369 [DAT](INFO): checking for new query: numPingsReceived=0 elapsed TxPingTime=1.629825 2021-05-18T04:54:56.381Z,1621313696.381 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:54:56.769Z,1621313696.769 [DAT](INFO): checking for new query: numPingsReceived=0 elapsed TxPingTime=2.029731 2021-05-18T04:54:56.782Z,1621313696.782 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:54:57.169Z,1621313697.169 [DAT](INFO): DAT read: Rx Time:04:54:31.2348 2021-05-18T04:54:57.169Z,1621313697.169 [DAT](INFO): received an acoustic signal 2021-05-18T04:54:57.171Z,1621313697.171 [DAT](INFO): DAT read: Bearing 70.7, -7.4 (Local) 2021-05-18T04:54:57.171Z,1621313697.171 [DAT](INFO): Local bearing/azimuth received: Bearing 70.7, -7.4 (Local) 2021-05-18T04:54:57.174Z,1621313697.174 [DAT](INFO): DAT read: Range 7 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0 2021-05-18T04:54:57.174Z,1621313697.174 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2021-05-18T04:54:57.183Z,1621313697.183 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone 2021-05-18T04:54:57.184Z,1621313697.184 [DAT](INFO): checking for new query: numPingsReceived=1 elapsed TxPingTime=2.444632 2021-05-18T04:54:57.221Z,1621313697.221 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:54:57.222Z,1621313697.222 [lab_range_test:A.](INFO): direction in vehicle frame: [ 0.142406 forward, 0.988233 starboard, -0.055822 keelward ] 2021-05-18T04:54:57.222Z,1621313697.222 [lab_range_test:A.](DEBUG): processing response from DAT 2021-05-18T04:54:57.232Z,1621313697.232 [lab_range_test:A.](INFO): rotationFromVehicleToNavigationFrame_ = [ 0.999351,-0.035903,-0.002779;0.035961,0.999041,0.024963;0.001880,-0.025047,0.999685 ] 2021-05-18T04:54:57.233Z,1621313697.233 [lab_range_test:A.](INFO): rangeToContact_ = 0.300000 m 2021-05-18T04:54:57.234Z,1621313697.234 [lab_range_test:A.](INFO): direction in world frame: [ 0.177747 north, 0.983571 east, -0.031530 down ] 2021-05-18T04:54:57.234Z,1621313697.234 [lab_range_test:A.](INFO): relPosInFSK: [ 0.042722 forward, 0.296470 starboard, -0.016746 keelward ] 2021-05-18T04:54:57.243Z,1621313697.243 [lab_range_test:A.](INFO): relPosInNED: [ 0.053324 north, 0.295071 east, -0.009459 down ] 2021-05-18T04:54:57.244Z,1621313697.244 [lab_range_test:A.](DEBUG): Combining 5 samples. 2021-05-18T04:54:57.244Z,1621313697.244 [lab_range_test:A.](DEBUG): Could not read vehicle position; cannot calculate contact position. 2021-05-18T04:54:57.578Z,1621313697.578 [DAT](INFO): DAT read: 04:54:31.2348 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 464, 0.06, 0.813, 0.544, 0.778, 0.756, PHS= 0.053,-0.167, 0.008, RAW= 138.7, 10.5, CAL= 139.3, 7.4, ROT= 70.7, -7.4 2021-05-18T04:54:57.581Z,1621313697.581 [DAT](INFO): got valid direction response: 04:54:31.2348 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 464, 0.06, 0.813, 0.544, 0.778, 0.756, PHS= 0.053,-0.167, 0.008, RAW= 138.7, 10.5, CAL= 139.3, 7.4, ROT= 70.7, -7.4 2021-05-18T04:54:57.583Z,1621313697.583 [DAT](INFO): DAT read: Rx Time:04:54:31.7348 2021-05-18T04:54:57.583Z,1621313697.583 [DAT](INFO): received an acoustic signal 2021-05-18T04:54:57.584Z,1621313697.584 [DAT](INFO): DAT read: Bearing 70.2, -8.0 (Local) 2021-05-18T04:54:57.585Z,1621313697.585 [DAT](INFO): Local bearing/azimuth received: Bearing 70.2, -8.0 (Local) 2021-05-18T04:54:57.587Z,1621313697.587 [DAT](INFO): DAT read: Range 7 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0 2021-05-18T04:54:57.588Z,1621313697.588 [DAT](INFO): #Rx 2: Read range and direction messages. 2021-05-18T04:54:57.590Z,1621313697.590 [DAT](INFO): direction in vehicle frame: [ 0.327762 forward, 0.935940 starboard, -0.128796 keelward ] 2021-05-18T04:54:57.590Z,1621313697.590 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone 2021-05-18T04:54:57.590Z,1621313697.590 [DAT](INFO): publishing direction and range info 2021-05-18T04:54:57.594Z,1621313697.594 [DAT](INFO): checking for new query: numPingsReceived=2 elapsed TxPingTime=2.854536 2021-05-18T04:54:57.691Z,1621313697.691 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:54:57.692Z,1621313697.692 [lab_range_test:A.](INFO): direction in vehicle frame: [ 0.327762 forward, 0.935940 starboard, -0.128796 keelward ] 2021-05-18T04:54:57.692Z,1621313697.692 [lab_range_test:A.](DEBUG): processing response from DAT 2021-05-18T04:54:57.694Z,1621313697.694 [lab_range_test:A.](INFO): rotationFromVehicleToNavigationFrame_ = [ 0.999305,-0.037174,-0.002705;0.037230,0.998998,0.024852;0.001778,-0.024935,0.999687 ] 2021-05-18T04:54:57.703Z,1621313697.703 [lab_range_test:A.](INFO): rangeToContact_ = 0.300000 m 2021-05-18T04:54:57.704Z,1621313697.704 [lab_range_test:A.](INFO): direction in world frame: [ 0.362150 north, 0.926029 east, -0.106382 down ] 2021-05-18T04:54:57.705Z,1621313697.705 [lab_range_test:A.](INFO): relPosInFSK: [ 0.098328 forward, 0.280782 starboard, -0.038639 keelward ] 2021-05-18T04:54:57.705Z,1621313697.705 [lab_range_test:A.](INFO): relPosInNED: [ 0.108645 north, 0.277809 east, -0.031915 down ] 2021-05-18T04:54:57.706Z,1621313697.706 [lab_range_test:A.](DEBUG): Combining 5 samples. 2021-05-18T04:54:57.706Z,1621313697.706 [lab_range_test:A.](DEBUG): Could not read vehicle position; cannot calculate contact position. 2021-05-18T04:54:58.008Z,1621313698.008 [DAT](INFO): DAT read: 04:54:31.7348 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 496, 0.19, 0.567, 0.292, 0.533, 0.511, PHS= 0.052,-0.175, 0.007, RAW= 139.3, 11.2, CAL= 139.8, 8.0, ROT= 70.2, -8.0 2021-05-18T04:54:58.009Z,1621313698.009 [DAT](INFO): got valid direction response: 04:54:31.7348 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 496, 0.19, 0.567, 0.292, 0.533, 0.511, PHS= 0.052,-0.175, 0.007, RAW= 139.3, 11.2, CAL= 139.8, 8.0, ROT= 70.2, -8.0 2021-05-18T04:54:58.010Z,1621313698.010 [DAT](INFO): DAT read: Rx Time:04:54:32.2347 2021-05-18T04:54:58.011Z,1621313698.011 [DAT](INFO): received an acoustic signal 2021-05-18T04:54:58.016Z,1621313698.016 [DAT](INFO): DAT read: Bearing 70.5, -7.7 (Local) 2021-05-18T04:54:58.016Z,1621313698.016 [DAT](INFO): Local bearing/azimuth received: Bearing 70.5, -7.7 (Local) 2021-05-18T04:54:58.018Z,1621313698.018 [DAT](INFO): DAT read: Range 7 to 50 : 0.2 m (trip time 0.1 ms) speed 0.0 2021-05-18T04:54:58.043Z,1621313698.043 [DAT](INFO): #Rx 3: Read range and direction messages. 2021-05-18T04:54:58.044Z,1621313698.044 [DAT](INFO): direction in vehicle frame: [ 0.335441 forward, 0.931724 starboard, -0.139173 keelward ] 2021-05-18T04:54:58.044Z,1621313698.044 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone 2021-05-18T04:54:58.045Z,1621313698.045 [DAT](INFO): publishing direction and range info 2021-05-18T04:54:58.058Z,1621313698.058 [DAT](INFO): checking for new query: numPingsReceived=3 elapsed TxPingTime=3.318540 2021-05-18T04:54:58.092Z,1621313698.092 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:54:58.093Z,1621313698.093 [lab_range_test:A.](INFO): direction in vehicle frame: [ 0.335441 forward, 0.931724 starboard, -0.139173 keelward ] 2021-05-18T04:54:58.093Z,1621313698.093 [lab_range_test:A.](DEBUG): processing response from DAT 2021-05-18T04:54:58.104Z,1621313698.104 [lab_range_test:A.](INFO): rotationFromVehicleToNavigationFrame_ = [ 0.999293,-0.037512,-0.002647;0.037566,0.998986,0.024827;0.001713,-0.024909,0.999688 ] 2021-05-18T04:54:58.105Z,1621313698.105 [lab_range_test:A.](INFO): rangeToContact_ = 0.200000 m 2021-05-18T04:54:58.106Z,1621313698.106 [lab_range_test:A.](INFO): direction in world frame: [ 0.369967 north, 0.921663 east, -0.116886 down ] 2021-05-18T04:54:58.106Z,1621313698.106 [lab_range_test:A.](INFO): relPosInFSK: [ 0.067088 forward, 0.186345 starboard, -0.027835 keelward ] 2021-05-18T04:54:58.116Z,1621313698.116 [lab_range_test:A.](INFO): relPosInNED: [ 0.073993 north, 0.184333 east, -0.023377 down ] 2021-05-18T04:54:58.116Z,1621313698.116 [lab_range_test:A.](DEBUG): Combining 5 samples. 2021-05-18T04:54:58.116Z,1621313698.116 [lab_range_test:A.](DEBUG): Could not read vehicle position; cannot calculate contact position. 2021-05-18T04:54:58.406Z,1621313698.406 [DAT](INFO): DAT read: 04:54:32.2347 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 495, 0.37,-0.096,-0.359,-0.129,-0.151, PHS= 0.051,-0.164, 0.007, RAW= 138.9, 10.8, CAL= 139.5, 7.7, ROT= 70.5, -7.7 2021-05-18T04:54:58.421Z,1621313698.421 [DAT](INFO): got valid direction response: 04:54:32.2347 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 495, 0.37,-0.096,-0.359,-0.129,-0.151, PHS= 0.051,-0.164, 0.007, RAW= 138.9, 10.8, CAL= 139.5, 7.7, ROT= 70.5, -7.7 2021-05-18T04:54:58.422Z,1621313698.422 [DAT](INFO): DAT read: Rx Time:04:54:32.7348 2021-05-18T04:54:58.422Z,1621313698.422 [DAT](INFO): received an acoustic signal 2021-05-18T04:54:58.423Z,1621313698.423 [DAT](INFO): #Rx 4: Read direction message, but no range. 2021-05-18T04:54:58.424Z,1621313698.424 [DAT](INFO): direction in vehicle frame: [ 0.330797 forward, 0.934142 starboard, -0.133986 keelward ] 2021-05-18T04:54:58.424Z,1621313698.424 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone 2021-05-18T04:54:58.436Z,1621313698.436 [DAT](INFO): checking for new query: numPingsReceived=4 elapsed TxPingTime=3.696754 2021-05-18T04:54:58.453Z,1621313698.453 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:54:58.801Z,1621313698.801 [DAT](INFO): DAT read: Bearing 67.5, -10.1 (Local) 2021-05-18T04:54:58.802Z,1621313698.802 [DAT](INFO): Local bearing/azimuth received: Bearing 67.5, -10.1 (Local) 2021-05-18T04:54:58.804Z,1621313698.804 [DAT](INFO): DAT read: Range 7 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0 2021-05-18T04:54:58.810Z,1621313698.810 [DAT](INFO): DAT read: 04:54:32.7348 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 1,-0.37,-1.258,-1.588,-1.290,-1.311, PHS= 0.049,-0.233, 0.007, RAW= 141.9, 13.3, CAL= 142.5, 10.1, ROT= 67.5, -10.1 2021-05-18T04:54:58.811Z,1621313698.811 [DAT](INFO): got valid direction response: 04:54:32.7348 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 1,-0.37,-1.258,-1.588,-1.290,-1.311, PHS= 0.049,-0.233, 0.007, RAW= 141.9, 13.3, CAL= 142.5, 10.1, ROT= 67.5, -10.1 2021-05-18T04:54:58.812Z,1621313698.812 [DAT](INFO): #Rx 5: Read range and direction messages. 2021-05-18T04:54:58.813Z,1621313698.813 [DAT](INFO): direction in vehicle frame: [ 0.376753 forward, 0.909562 starboard, -0.175367 keelward ] 2021-05-18T04:54:58.813Z,1621313698.813 [DAT](INFO): publishing direction and range info 2021-05-18T04:54:58.858Z,1621313698.858 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:54:58.865Z,1621313698.865 [lab_range_test:A.](INFO): direction in vehicle frame: [ 0.376753 forward, 0.909562 starboard, -0.175367 keelward ] 2021-05-18T04:54:58.865Z,1621313698.865 [lab_range_test:A.](DEBUG): processing response from DAT 2021-05-18T04:54:58.871Z,1621313698.871 [lab_range_test:A.](INFO): rotationFromVehicleToNavigationFrame_ = [ 0.999334,-0.036382,-0.002704;0.036438,0.999025,0.024935;0.001794,-0.025017,0.999685 ] 2021-05-18T04:54:58.871Z,1621313698.871 [lab_range_test:A.](INFO): rangeToContact_ = 0.300000 m 2021-05-18T04:54:58.872Z,1621313698.872 [lab_range_test:A.](INFO): direction in world frame: [ 0.409330 north, 0.899355 east, -0.153650 down ] 2021-05-18T04:54:58.873Z,1621313698.873 [lab_range_test:A.](INFO): relPosInFSK: [ 0.113026 forward, 0.272869 starboard, -0.052610 keelward ] 2021-05-18T04:54:58.874Z,1621313698.874 [lab_range_test:A.](INFO): relPosInNED: [ 0.122799 north, 0.269807 east, -0.046095 down ] 2021-05-18T04:54:58.874Z,1621313698.874 [lab_range_test:A.](DEBUG): Combining 5 samples. 2021-05-18T04:54:58.875Z,1621313698.875 [lab_range_test:A.](DEBUG): Could not read vehicle position; cannot calculate contact position. 2021-05-18T04:54:59.188Z,1621313699.188 [DAT](INFO): DAT read: Rx Time:04:54:33.2347 2021-05-18T04:54:59.188Z,1621313699.188 [DAT](INFO): received an acoustic signal 2021-05-18T04:54:59.190Z,1621313699.190 [DAT](INFO): DAT read: Bearing 67.5, -9.5 (Local) 2021-05-18T04:54:59.190Z,1621313699.190 [DAT](INFO): Local bearing/azimuth received: Bearing 67.5, -9.5 (Local) 2021-05-18T04:54:59.192Z,1621313699.192 [DAT](INFO): DAT read: Range 7 to 50 : 0.2 m (trip time 0.1 ms) speed 0.0 2021-05-18T04:54:59.197Z,1621313699.197 [DAT](INFO): DAT read: 04:54:33.2347 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 496,-0.19,-1.929,-2.243,-1.958,-1.982, PHS= 0.049,-0.217, 0.009, RAW= 142.0, 12.8, CAL= 142.5, 9.5, ROT= 67.5, -9.5 2021-05-18T04:54:59.198Z,1621313699.198 [DAT](INFO): got valid direction response: 04:54:33.2347 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 496,-0.19,-1.929,-2.243,-1.958,-1.982, PHS= 0.049,-0.217, 0.009, RAW= 142.0, 12.8, CAL= 142.5, 9.5, ROT= 67.5, -9.5 2021-05-18T04:54:59.199Z,1621313699.199 [DAT](INFO): #Rx 6: Read range and direction messages. 2021-05-18T04:54:59.200Z,1621313699.200 [DAT](INFO): direction in vehicle frame: [ 0.377435 forward, 0.911209 starboard, -0.165048 keelward ] 2021-05-18T04:54:59.200Z,1621313699.200 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone 2021-05-18T04:54:59.200Z,1621313699.200 [DAT](INFO): publishing direction and range info 2021-05-18T04:54:59.214Z,1621313699.214 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:54:59.232Z,1621313699.232 [lab_range_test:A.](INFO): direction in vehicle frame: [ 0.377435 forward, 0.911209 starboard, -0.165048 keelward ] 2021-05-18T04:54:59.232Z,1621313699.232 [lab_range_test:A.](DEBUG): processing response from DAT 2021-05-18T04:54:59.234Z,1621313699.234 [lab_range_test:A.](INFO): rotationFromVehicleToNavigationFrame_ = [ 0.999301,-0.037286,-0.002596;0.037339,0.998993,0.024894;0.001666,-0.024974,0.999687 ] 2021-05-18T04:54:59.234Z,1621313699.234 [lab_range_test:A.](INFO): rangeToContact_ = 0.200000 m 2021-05-18T04:54:59.246Z,1621313699.246 [lab_range_test:A.](INFO): direction in world frame: [ 0.410920 north, 0.900340 east, -0.143292 down ] 2021-05-18T04:54:59.263Z,1621313699.263 [lab_range_test:A.](INFO): relPosInFSK: [ 0.075487 forward, 0.182242 starboard, -0.033010 keelward ] 2021-05-18T04:54:59.265Z,1621313699.265 [lab_range_test:A.](INFO): relPosInNED: [ 0.082184 north, 0.180068 east, -0.028658 down ] 2021-05-18T04:54:59.265Z,1621313699.265 [lab_range_test:A.](DEBUG): Combining 5 samples. 2021-05-18T04:54:59.266Z,1621313699.266 [lab_range_test:A.](DEBUG): Could not read vehicle position; cannot calculate contact position. 2021-05-18T04:54:59.612Z,1621313699.612 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:55:00.041Z,1621313700.041 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:55:00.452Z,1621313700.452 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:55:00.838Z,1621313700.838 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:55:01.213Z,1621313701.213 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:55:01.626Z,1621313701.626 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:55:02.045Z,1621313702.045 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:55:02.441Z,1621313702.441 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:55:02.850Z,1621313702.850 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:55:03.240Z,1621313703.240 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:55:03.637Z,1621313703.637 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:55:04.043Z,1621313704.043 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:55:04.449Z,1621313704.449 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:55:04.450Z,1621313704.450 [lab_range_test:A.](INFO): update period (5.000000 s) has elapsed, querying... 2021-05-18T04:55:04.450Z,1621313704.450 [lab_range_test:A.](INFO): *** querying DAT *** 2021-05-18T04:55:04.848Z,1621313704.848 [DAT](INFO): ****** received valid address query ****** 2021-05-18T04:55:04.848Z,1621313704.848 [DAT](INFO): ****** received valid ping request ****** 2021-05-18T04:55:04.848Z,1621313704.848 [DAT](INFO): Querying Benthos address 50 with 5 pings in terminal homing one-way mode. 2021-05-18T04:55:04.850Z,1621313704.850 [DAT](INFO): ****** ping requested ****** 2021-05-18T04:55:04.862Z,1621313704.862 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:55:05.253Z,1621313705.253 [DAT](INFO): DAT read: user:12> 2021-05-18T04:55:05.254Z,1621313705.254 [DAT](INFO): DAT read: Tx time:04:54:39.6550 2021-05-18T04:55:05.254Z,1621313705.254 [DAT](INFO): Ping request sent. 2021-05-18T04:55:05.254Z,1621313705.254 [DAT](INFO): transmitted an acoustic signal 2021-05-18T04:55:05.255Z,1621313705.255 [DAT](INFO): publishing transmit ping time 2021-05-18T04:55:05.255Z,1621313705.255 [DAT](INFO): checking for new query: numPingsReceived=0 elapsed TxPingTime=0.001008 2021-05-18T04:55:05.309Z,1621313705.309 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:55:05.665Z,1621313705.665 [DAT](INFO): checking for new query: numPingsReceived=0 elapsed TxPingTime=0.410400 2021-05-18T04:55:05.701Z,1621313705.701 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:55:06.073Z,1621313706.073 [DAT](INFO): checking for new query: numPingsReceived=0 elapsed TxPingTime=0.818836 2021-05-18T04:55:06.088Z,1621313706.088 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:55:06.454Z,1621313706.454 [DAT](INFO): checking for new query: numPingsReceived=0 elapsed TxPingTime=1.200054 2021-05-18T04:55:06.470Z,1621313706.470 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:55:06.874Z,1621313706.874 [DAT](INFO): checking for new query: numPingsReceived=0 elapsed TxPingTime=1.619841 2021-05-18T04:55:06.902Z,1621313706.902 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:55:07.268Z,1621313707.268 [DAT](INFO): checking for new query: numPingsReceived=0 elapsed TxPingTime=2.013245 2021-05-18T04:55:07.275Z,1621313707.275 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:55:07.672Z,1621313707.672 [DAT](INFO): DAT read: Rx Time:04:54:41.7847 2021-05-18T04:55:07.672Z,1621313707.672 [DAT](INFO): received an acoustic signal 2021-05-18T04:55:07.674Z,1621313707.674 [DAT](INFO): DAT read: Bearing 71.4, -6.6 (Local) 2021-05-18T04:55:07.674Z,1621313707.674 [DAT](INFO): Local bearing/azimuth received: Bearing 71.4, -6.6 (Local) 2021-05-18T04:55:07.676Z,1621313707.676 [DAT](INFO): DAT read: Range 7 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0 2021-05-18T04:55:07.677Z,1621313707.677 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2021-05-18T04:55:07.677Z,1621313707.677 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone 2021-05-18T04:55:07.678Z,1621313707.678 [DAT](INFO): checking for new query: numPingsReceived=1 elapsed TxPingTime=2.423825 2021-05-18T04:55:07.691Z,1621313707.691 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:55:07.693Z,1621313707.693 [lab_range_test:A.](INFO): direction in vehicle frame: [ 0.377435 forward, 0.911209 starboard, -0.165048 keelward ] 2021-05-18T04:55:07.693Z,1621313707.693 [lab_range_test:A.](DEBUG): processing response from DAT 2021-05-18T04:55:07.696Z,1621313707.696 [lab_range_test:A.](INFO): rotationFromVehicleToNavigationFrame_ = [ 0.999326,-0.036605,-0.002578;0.036658,0.999017,0.024913;0.001663,-0.024991,0.999686 ] 2021-05-18T04:55:07.696Z,1621313707.696 [lab_range_test:A.](INFO): rangeToContact_ = 0.300000 m 2021-05-18T04:55:07.697Z,1621313707.697 [lab_range_test:A.](INFO): direction in world frame: [ 0.410309 north, 0.900622 east, -0.143268 down ] 2021-05-18T04:55:07.698Z,1621313707.698 [lab_range_test:A.](INFO): relPosInFSK: [ 0.113231 forward, 0.273363 starboard, -0.049514 keelward ] 2021-05-18T04:55:07.698Z,1621313707.698 [lab_range_test:A.](INFO): relPosInNED: [ 0.123093 north, 0.270187 east, -0.042980 down ] 2021-05-18T04:55:07.699Z,1621313707.699 [lab_range_test:A.](DEBUG): Combining 5 samples. 2021-05-18T04:55:07.699Z,1621313707.699 [lab_range_test:A.](DEBUG): Could not read vehicle position; cannot calculate contact position. 2021-05-18T04:55:08.113Z,1621313708.113 [DAT](INFO): DAT read: 04:54:41.7847 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 464, 0.08, 2.354, 2.068, 2.313, 2.288, PHS= 0.062,-0.176, 0.009, RAW= 137.8, 9.7, CAL= 138.6, 6.6, ROT= 71.4, -6.6 2021-05-18T04:55:08.114Z,1621313708.114 [DAT](INFO): got valid direction response: 04:54:41.7847 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 464, 0.08, 2.354, 2.068, 2.313, 2.288, PHS= 0.062,-0.176, 0.009, RAW= 137.8, 9.7, CAL= 138.6, 6.6, ROT= 71.4, -6.6 2021-05-18T04:55:08.116Z,1621313708.116 [DAT](INFO): DAT read: Rx Time:04:54:42.2844 2021-05-18T04:55:08.117Z,1621313708.117 [DAT](INFO): received an acoustic signal 2021-05-18T04:55:08.118Z,1621313708.118 [DAT](INFO): DAT read: Bearing 70.9, -7.9 (Local) 2021-05-18T04:55:08.118Z,1621313708.118 [DAT](INFO): Local bearing/azimuth received: Bearing 70.9, -7.9 (Local) 2021-05-18T04:55:08.120Z,1621313708.120 [DAT](INFO): DAT read: Range 7 to 50 : 0.0 m (trip time 0.0 ms) speed 0.0 2021-05-18T04:55:08.121Z,1621313708.121 [DAT](INFO): unknown deviceResponse_: Range 7 to 50 : 0.0 m (trip time 0.0 ms) speed 0.0 2021-05-18T04:55:08.122Z,1621313708.122 [DAT](INFO): #Rx 2: Read direction message, but no range. 2021-05-18T04:55:08.123Z,1621313708.123 [DAT](INFO): direction in vehicle frame: [ 0.316845 forward, 0.941487 starboard, -0.114937 keelward ] 2021-05-18T04:55:08.124Z,1621313708.124 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone 2021-05-18T04:55:08.155Z,1621313708.155 [DAT](INFO): checking for new query: numPingsReceived=2 elapsed TxPingTime=2.900805 2021-05-18T04:55:08.180Z,1621313708.180 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:55:08.511Z,1621313708.511 [DAT](INFO): DAT read: 04:54:42.2844 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 494, 0.22, 0.486, 0.212, 0.450, 0.429, PHS= 0.053,-0.173, 0.006, RAW= 138.5, 11.1, CAL= 139.1, 7.9, ROT= 70.9, -7.9 2021-05-18T04:55:08.518Z,1621313708.518 [DAT](INFO): got valid direction response: 04:54:42.2844 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 494, 0.22, 0.486, 0.212, 0.450, 0.429, PHS= 0.053,-0.173, 0.006, RAW= 138.5, 11.1, CAL= 139.1, 7.9, ROT= 70.9, -7.9 2021-05-18T04:55:08.519Z,1621313708.519 [DAT](INFO): DAT read: Rx Time:04:54:42.7845 2021-05-18T04:55:08.519Z,1621313708.519 [DAT](INFO): received an acoustic signal 2021-05-18T04:55:08.520Z,1621313708.520 [DAT](INFO): DAT read: Bearing 69.2, -8.6 (Local) 2021-05-18T04:55:08.521Z,1621313708.521 [DAT](INFO): Local bearing/azimuth received: Bearing 69.2, -8.6 (Local) 2021-05-18T04:55:08.521Z,1621313708.521 [DAT](INFO): #Rx 3: Read direction message, but no range. 2021-05-18T04:55:08.522Z,1621313708.522 [DAT](INFO): direction in vehicle frame: [ 0.324112 forward, 0.935981 starboard, -0.137445 keelward ] 2021-05-18T04:55:08.523Z,1621313708.523 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone 2021-05-18T04:55:08.526Z,1621313708.526 [DAT](INFO): checking for new query: numPingsReceived=3 elapsed TxPingTime=3.271760 2021-05-18T04:55:08.536Z,1621313708.536 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:55:08.895Z,1621313708.895 [DAT](INFO): DAT read: Range 7 to 50 : 0.0 m (trip time 0.0 ms) speed 0.0 2021-05-18T04:55:08.895Z,1621313708.895 [DAT](INFO): unknown deviceResponse_: Range 7 to 50 : 0.0 m (trip time 0.0 ms) speed 0.0 2021-05-18T04:55:08.900Z,1621313708.900 [DAT](INFO): DAT read: 04:54:42.7845 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 511, 0.45, 0.713, 0.430, 0.682, 0.660, PHS= 0.050,-0.185, 0.007, RAW= 140.3, 11.8, CAL= 140.8, 8.6, ROT= 69.2, -8.6 2021-05-18T04:55:08.902Z,1621313708.902 [DAT](INFO): got valid direction response: 04:54:42.7845 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 511, 0.45, 0.713, 0.430, 0.682, 0.660, PHS= 0.050,-0.185, 0.007, RAW= 140.3, 11.8, CAL= 140.8, 8.6, ROT= 69.2, -8.6 2021-05-18T04:55:08.902Z,1621313708.902 [DAT](INFO): #Rx 4: Read direction message, but no range. 2021-05-18T04:55:08.903Z,1621313708.903 [DAT](INFO): direction in vehicle frame: [ 0.351114 forward, 0.924315 starboard, -0.149535 keelward ] 2021-05-18T04:55:08.906Z,1621313708.906 [DAT](INFO): checking for new query: numPingsReceived=4 elapsed TxPingTime=3.652142 2021-05-18T04:55:08.931Z,1621313708.931 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:55:09.303Z,1621313709.303 [DAT](INFO): DAT read: Rx Time:04:54:43.2844 2021-05-18T04:55:09.303Z,1621313709.303 [DAT](INFO): received an acoustic signal 2021-05-18T04:55:09.305Z,1621313709.305 [DAT](INFO): DAT read: Bearing 67.7, -9.8 (Local) 2021-05-18T04:55:09.305Z,1621313709.305 [DAT](INFO): Local bearing/azimuth received: Bearing 67.7, -9.8 (Local) 2021-05-18T04:55:09.308Z,1621313709.308 [DAT](INFO): DAT read: Range 7 to 50 : 0.0 m (trip time 0.0 ms) speed 0.0 2021-05-18T04:55:09.308Z,1621313709.308 [DAT](INFO): unknown deviceResponse_: Range 7 to 50 : 0.0 m (trip time 0.0 ms) speed 0.0 2021-05-18T04:55:09.313Z,1621313709.313 [DAT](INFO): DAT read: 04:54:43.2844 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 511,-0.30,-2.127,-2.462,-2.160,-2.183, PHS= 0.052,-0.235, 0.007, RAW= 141.7, 13.1, CAL= 142.3, 9.8, ROT= 67.7, -9.8 2021-05-18T04:55:09.314Z,1621313709.314 [DAT](INFO): got valid direction response: 04:54:43.2844 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 511,-0.30,-2.127,-2.462,-2.160,-2.183, PHS= 0.052,-0.235, 0.007, RAW= 141.7, 13.1, CAL= 142.3, 9.8, ROT= 67.7, -9.8 2021-05-18T04:55:09.315Z,1621313709.315 [DAT](INFO): #Rx 5: Read direction message, but no range. 2021-05-18T04:55:09.316Z,1621313709.316 [DAT](INFO): direction in vehicle frame: [ 0.373919 forward, 0.911709 starboard, -0.170209 keelward ] 2021-05-18T04:55:09.316Z,1621313709.316 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone 2021-05-18T04:55:09.326Z,1621313709.326 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:55:09.698Z,1621313709.698 [DAT](INFO): DAT read: Rx Time:04:54:43.7846 2021-05-18T04:55:09.698Z,1621313709.698 [DAT](INFO): received an acoustic signal 2021-05-18T04:55:09.699Z,1621313709.699 [DAT](INFO): DAT read: Bearing 78.8, -5.2 (Local) 2021-05-18T04:55:09.700Z,1621313709.700 [DAT](INFO): Local bearing/azimuth received: Bearing 78.8, -5.2 (Local) 2021-05-18T04:55:09.702Z,1621313709.702 [DAT](INFO): DAT read: Range 7 to 50 : 0.2 m (trip time 0.1 ms) speed 0.0 2021-05-18T04:55:09.703Z,1621313709.703 [DAT](ERROR): #Rx 6: Read range message, but no direction. 2021-05-18T04:55:09.703Z,1621313709.703 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone 2021-05-18T04:55:09.724Z,1621313709.724 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:55:09.726Z,1621313709.726 [lab_range_test:A.](INFO): direction in vehicle frame: [ 0.373919 forward, 0.911709 starboard, -0.170209 keelward ] 2021-05-18T04:55:09.726Z,1621313709.726 [lab_range_test:A.](DEBUG): processing response from DAT 2021-05-18T04:55:09.733Z,1621313709.733 [lab_range_test:A.](INFO): rotationFromVehicleToNavigationFrame_ = [ 0.999336,-0.036337,-0.002756;0.036394,0.999026,0.024963;0.001846,-0.025047,0.999685 ] 2021-05-18T04:55:09.733Z,1621313709.733 [lab_range_test:A.](INFO): rangeToContact_ = 0.200000 m 2021-05-18T04:55:09.734Z,1621313709.734 [lab_range_test:A.](INFO): direction in world frame: [ 0.406538 north, 0.901497 east, -0.148427 down ] 2021-05-18T04:55:09.736Z,1621313709.736 [lab_range_test:A.](INFO): relPosInFSK: [ 0.074784 forward, 0.182342 starboard, -0.034042 keelward ] 2021-05-18T04:55:09.737Z,1621313709.737 [lab_range_test:A.](INFO): relPosInNED: [ 0.081308 north, 0.180299 east, -0.029685 down ] 2021-05-18T04:55:09.737Z,1621313709.737 [lab_range_test:A.](DEBUG): Combining 5 samples. 2021-05-18T04:55:09.737Z,1621313709.737 [lab_range_test:A.](DEBUG): Could not read vehicle position; cannot calculate contact position. 2021-05-18T04:55:10.109Z,1621313710.109 [DAT](INFO): DAT read: 04:54:43.7846 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 0, 0.68,-2.313, 3.138,-2.580,-2.584, PHS= 0.267,-0.517,-0.011, RAW= 129.5, 7.6, CAL= 131.2, 5.2, ROT= 78.8, -5.2 2021-05-18T04:55:10.110Z,1621313710.110 [DAT](INFO): got valid direction response: 04:54:43.7846 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 0, 0.68,-2.313, 3.138,-2.580,-2.584, PHS= 0.267,-0.517,-0.011, RAW= 129.5, 7.6, CAL= 131.2, 5.2, ROT= 78.8, -5.2 2021-05-18T04:55:10.110Z,1621313710.110 [DAT](INFO): #Rx 7: Read direction message, but no range. 2021-05-18T04:55:10.111Z,1621313710.111 [DAT](INFO): direction in vehicle frame: [ 0.193435 forward, 0.976918 starboard, -0.090633 keelward ] 2021-05-18T04:55:10.127Z,1621313710.127 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:55:10.514Z,1621313710.514 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:55:10.926Z,1621313710.926 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:55:11.341Z,1621313711.341 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:55:11.741Z,1621313711.741 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:55:12.145Z,1621313712.145 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:55:12.525Z,1621313712.525 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:55:12.929Z,1621313712.929 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:55:13.337Z,1621313713.337 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:55:13.748Z,1621313713.748 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:55:14.165Z,1621313714.165 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:55:14.573Z,1621313714.573 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:55:14.966Z,1621313714.966 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:55:14.966Z,1621313714.966 [lab_range_test:A.](INFO): update period (5.000000 s) has elapsed, querying... 2021-05-18T04:55:14.966Z,1621313714.966 [lab_range_test:A.](INFO): *** querying DAT *** 2021-05-18T04:55:15.347Z,1621313715.347 [DAT](INFO): ****** received valid address query ****** 2021-05-18T04:55:15.351Z,1621313715.351 [DAT](INFO): ****** received valid ping request ****** 2021-05-18T04:55:15.351Z,1621313715.351 [DAT](INFO): Querying Benthos address 50 with 5 pings in terminal homing one-way mode. 2021-05-18T04:55:15.353Z,1621313715.353 [DAT](INFO): ****** ping requested ****** 2021-05-18T04:55:15.375Z,1621313715.375 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:55:15.746Z,1621313715.746 [DAT](INFO): DAT read: user:13> 2021-05-18T04:55:15.747Z,1621313715.747 [DAT](INFO): DAT read: Tx time:04:54:50.1549 2021-05-18T04:55:15.747Z,1621313715.747 [DAT](INFO): Ping request sent. 2021-05-18T04:55:15.747Z,1621313715.747 [DAT](INFO): transmitted an acoustic signal 2021-05-18T04:55:15.748Z,1621313715.748 [DAT](INFO): publishing transmit ping time 2021-05-18T04:55:15.748Z,1621313715.748 [DAT](INFO): checking for new query: numPingsReceived=0 elapsed TxPingTime=0.000880 2021-05-18T04:55:15.761Z,1621313715.761 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:55:16.152Z,1621313716.152 [DAT](INFO): checking for new query: numPingsReceived=0 elapsed TxPingTime=0.404983 2021-05-18T04:55:16.165Z,1621313716.165 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:55:16.562Z,1621313716.562 [DAT](INFO): checking for new query: numPingsReceived=0 elapsed TxPingTime=0.814903 2021-05-18T04:55:16.570Z,1621313716.570 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:55:16.969Z,1621313716.969 [DAT](INFO): checking for new query: numPingsReceived=0 elapsed TxPingTime=1.221524 2021-05-18T04:55:16.981Z,1621313716.981 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:55:17.381Z,1621313717.381 [DAT](INFO): checking for new query: numPingsReceived=0 elapsed TxPingTime=1.634136 2021-05-18T04:55:17.406Z,1621313717.406 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:55:17.777Z,1621313717.777 [DAT](INFO): checking for new query: numPingsReceived=0 elapsed TxPingTime=2.029397 2021-05-18T04:55:17.790Z,1621313717.790 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:55:18.181Z,1621313718.181 [DAT](INFO): DAT read: Rx Time:04:54:52.2845 2021-05-18T04:55:18.181Z,1621313718.181 [DAT](INFO): received an acoustic signal 2021-05-18T04:55:18.182Z,1621313718.182 [DAT](INFO): DAT read: Bearing 70.6, -7.4 (Local) 2021-05-18T04:55:18.183Z,1621313718.183 [DAT](INFO): Local bearing/azimuth received: Bearing 70.6, -7.4 (Local) 2021-05-18T04:55:18.185Z,1621313718.185 [DAT](INFO): DAT read: Range 7 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0 2021-05-18T04:55:18.186Z,1621313718.186 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2021-05-18T04:55:18.186Z,1621313718.186 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone 2021-05-18T04:55:18.187Z,1621313718.187 [DAT](INFO): checking for new query: numPingsReceived=1 elapsed TxPingTime=2.439985 2021-05-18T04:55:18.196Z,1621313718.196 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:55:18.197Z,1621313718.197 [lab_range_test:A.](INFO): direction in vehicle frame: [ 0.193435 forward, 0.976918 starboard, -0.090633 keelward ] 2021-05-18T04:55:18.197Z,1621313718.197 [lab_range_test:A.](DEBUG): processing response from DAT 2021-05-18T04:55:18.200Z,1621313718.200 [lab_range_test:A.](INFO): rotationFromVehicleToNavigationFrame_ = [ 0.999310,-0.037049,-0.002698;0.037104,0.999002,0.024857;0.001774,-0.024940,0.999687 ] 2021-05-18T04:55:18.200Z,1621313718.200 [lab_range_test:A.](INFO): rangeToContact_ = 0.300000 m 2021-05-18T04:55:18.201Z,1621313718.201 [lab_range_test:A.](INFO): direction in world frame: [ 0.229388 north, 0.971037 east, -0.066843 down ] 2021-05-18T04:55:18.202Z,1621313718.202 [lab_range_test:A.](INFO): relPosInFSK: [ 0.058030 forward, 0.293075 starboard, -0.027190 keelward ] 2021-05-18T04:55:18.203Z,1621313718.203 [lab_range_test:A.](INFO): relPosInNED: [ 0.068817 north, 0.291311 east, -0.020053 down ] 2021-05-18T04:55:18.204Z,1621313718.204 [lab_range_test:A.](DEBUG): Combining 5 samples. 2021-05-18T04:55:18.204Z,1621313718.204 [lab_range_test:A.](DEBUG): Could not read vehicle position; cannot calculate contact position. 2021-05-18T04:55:18.596Z,1621313718.596 [DAT](INFO): DAT read: 04:54:52.2845 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 208, 0.11,-2.170,-2.430,-2.202,-2.225, PHS= 0.051,-0.161, 0.007, RAW= 138.8, 10.6, CAL= 139.4, 7.4, ROT= 70.6, -7.4 2021-05-18T04:55:18.598Z,1621313718.598 [DAT](INFO): got valid direction response: 04:54:52.2845 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 208, 0.11,-2.170,-2.430,-2.202,-2.225, PHS= 0.051,-0.161, 0.007, RAW= 138.8, 10.6, CAL= 139.4, 7.4, ROT= 70.6, -7.4 2021-05-18T04:55:18.599Z,1621313718.599 [DAT](INFO): DAT read: Rx Time:04:54:52.7845 2021-05-18T04:55:18.600Z,1621313718.600 [DAT](INFO): received an acoustic signal 2021-05-18T04:55:18.601Z,1621313718.601 [DAT](INFO): DAT read: Bearing 69.7, -7.7 (Local) 2021-05-18T04:55:18.601Z,1621313718.601 [DAT](INFO): Local bearing/azimuth received: Bearing 69.7, -7.7 (Local) 2021-05-18T04:55:18.604Z,1621313718.604 [DAT](INFO): DAT read: Range 7 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0 2021-05-18T04:55:18.604Z,1621313718.604 [DAT](INFO): #Rx 2: Read range and direction messages. 2021-05-18T04:55:18.606Z,1621313718.606 [DAT](INFO): direction in vehicle frame: [ 0.329395 forward, 0.935367 starboard, -0.128796 keelward ] 2021-05-18T04:55:18.606Z,1621313718.606 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone 2021-05-18T04:55:18.606Z,1621313718.606 [DAT](INFO): publishing direction and range info 2021-05-18T04:55:18.610Z,1621313718.610 [DAT](INFO): checking for new query: numPingsReceived=2 elapsed TxPingTime=2.862496 2021-05-18T04:55:18.618Z,1621313718.618 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:55:18.620Z,1621313718.620 [lab_range_test:A.](INFO): direction in vehicle frame: [ 0.329395 forward, 0.935367 starboard, -0.128796 keelward ] 2021-05-18T04:55:18.620Z,1621313718.620 [lab_range_test:A.](DEBUG): processing response from DAT 2021-05-18T04:55:18.623Z,1621313718.623 [lab_range_test:A.](INFO): rotationFromVehicleToNavigationFrame_ = [ 0.999330,-0.036513,-0.002627;0.036568,0.999020,0.024949;0.001714,-0.025028,0.999685 ] 2021-05-18T04:55:18.624Z,1621313718.624 [lab_range_test:A.](INFO): rangeToContact_ = 0.300000 m 2021-05-18T04:55:18.625Z,1621313718.625 [lab_range_test:A.](INFO): direction in world frame: [ 0.363157 north, 0.925646 east, -0.106284 down ] 2021-05-18T04:55:18.626Z,1621313718.626 [lab_range_test:A.](INFO): relPosInFSK: [ 0.098818 forward, 0.280610 starboard, -0.038639 keelward ] 2021-05-18T04:55:18.627Z,1621313718.627 [lab_range_test:A.](INFO): relPosInNED: [ 0.108947 north, 0.277694 east, -0.031885 down ] 2021-05-18T04:55:18.627Z,1621313718.627 [lab_range_test:A.](DEBUG): Combining 5 samples. 2021-05-18T04:55:18.627Z,1621313718.627 [lab_range_test:A.](DEBUG): Could not read vehicle position; cannot calculate contact position. 2021-05-18T04:55:19.013Z,1621313719.013 [DAT](INFO): DAT read: 04:54:52.7845 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 496, 0.26,-2.412,-2.681,-2.443,-2.467, PHS= 0.051,-0.170, 0.009, RAW= 139.7, 10.9, CAL= 140.3, 7.7, ROT= 69.7, -7.7 2021-05-18T04:55:19.014Z,1621313719.014 [DAT](INFO): got valid direction response: 04:54:52.7845 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 496, 0.26,-2.412,-2.681,-2.443,-2.467, PHS= 0.051,-0.170, 0.009, RAW= 139.7, 10.9, CAL= 140.3, 7.7, ROT= 69.7, -7.7 2021-05-18T04:55:19.015Z,1621313719.015 [DAT](INFO): DAT read: Rx Time:04:54:53.2844 2021-05-18T04:55:19.016Z,1621313719.016 [DAT](INFO): received an acoustic signal 2021-05-18T04:55:19.016Z,1621313719.016 [DAT](INFO): DAT read: Bearing 70.5, -7.0 (Local) 2021-05-18T04:55:19.017Z,1621313719.017 [DAT](INFO): Local bearing/azimuth received: Bearing 70.5, -7.0 (Local) 2021-05-18T04:55:19.018Z,1621313719.018 [DAT](INFO): #Rx 3: Read direction message, but no range. 2021-05-18T04:55:19.019Z,1621313719.019 [DAT](INFO): direction in vehicle frame: [ 0.343807 forward, 0.929432 starboard, -0.133986 keelward ] 2021-05-18T04:55:19.019Z,1621313719.019 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone 2021-05-18T04:55:19.023Z,1621313719.023 [DAT](INFO): checking for new query: numPingsReceived=3 elapsed TxPingTime=3.275341 2021-05-18T04:55:19.033Z,1621313719.033 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:55:19.399Z,1621313719.399 [DAT](INFO): DAT read: Range 7 to 50 : 0.2 m (trip time 0.1 ms) speed 0.0 2021-05-18T04:55:19.404Z,1621313719.404 [DAT](INFO): DAT read: 04:54:53.2844 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 495, 0.48, 2.535, 2.255, 2.498, 2.473, PHS= 0.057,-0.174, 0.010, RAW= 138.9, 10.1, CAL= 139.5, 7.0, ROT= 70.5, -7.0 2021-05-18T04:55:19.405Z,1621313719.405 [DAT](INFO): got valid direction response: 04:54:53.2844 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 495, 0.48, 2.535, 2.255, 2.498, 2.473, PHS= 0.057,-0.174, 0.010, RAW= 138.9, 10.1, CAL= 139.5, 7.0, ROT= 70.5, -7.0 2021-05-18T04:55:19.405Z,1621313719.405 [DAT](INFO): #Rx 4: Read range and direction messages. 2021-05-18T04:55:19.406Z,1621313719.406 [DAT](INFO): direction in vehicle frame: [ 0.331319 forward, 0.935615 starboard, -0.121869 keelward ] 2021-05-18T04:55:19.407Z,1621313719.407 [DAT](INFO): publishing direction and range info 2021-05-18T04:55:19.410Z,1621313719.410 [DAT](INFO): checking for new query: numPingsReceived=4 elapsed TxPingTime=3.662428 2021-05-18T04:55:19.452Z,1621313719.452 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:55:19.453Z,1621313719.453 [lab_range_test:A.](INFO): direction in vehicle frame: [ 0.331319 forward, 0.935615 starboard, -0.121869 keelward ] 2021-05-18T04:55:19.453Z,1621313719.453 [lab_range_test:A.](DEBUG): processing response from DAT 2021-05-18T04:55:19.464Z,1621313719.464 [lab_range_test:A.](INFO): rotationFromVehicleToNavigationFrame_ = [ 0.999363,-0.035582,-0.002723;0.035639,0.999052,0.024980;0.001832,-0.025062,0.999684 ] 2021-05-18T04:55:19.464Z,1621313719.464 [lab_range_test:A.](INFO): rangeToContact_ = 0.200000 m 2021-05-18T04:55:19.465Z,1621313719.465 [lab_range_test:A.](INFO): direction in world frame: [ 0.364229 north, 0.925994 east, -0.099361 down ] 2021-05-18T04:55:19.466Z,1621313719.466 [lab_range_test:A.](INFO): relPosInFSK: [ 0.066264 forward, 0.187123 starboard, -0.024374 keelward ] 2021-05-18T04:55:19.479Z,1621313719.479 [lab_range_test:A.](INFO): relPosInNED: [ 0.072846 north, 0.185199 east, -0.019872 down ] 2021-05-18T04:55:19.480Z,1621313719.480 [lab_range_test:A.](DEBUG): Combining 5 samples. 2021-05-18T04:55:19.480Z,1621313719.480 [lab_range_test:A.](DEBUG): Could not read vehicle position; cannot calculate contact position. 2021-05-18T04:55:19.813Z,1621313719.813 [DAT](INFO): DAT read: Rx Time:04:54:53.7845 2021-05-18T04:55:19.814Z,1621313719.814 [DAT](INFO): received an acoustic signal 2021-05-18T04:55:19.815Z,1621313719.815 [DAT](INFO): DAT read: Bearing 68.1, -9.4 (Local) 2021-05-18T04:55:19.816Z,1621313719.816 [DAT](INFO): Local bearing/azimuth received: Bearing 68.1, -9.4 (Local) 2021-05-18T04:55:19.818Z,1621313719.818 [DAT](INFO): DAT read: Range 7 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0 2021-05-18T04:55:19.823Z,1621313719.823 [DAT](INFO): DAT read: 04:54:53.7845 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 1,-0.28, 2.066, 1.740, 2.032, 2.009, PHS= 0.053,-0.226, 0.008, RAW= 141.4, 12.7, CAL= 141.9, 9.4, ROT= 68.1, -9.4 2021-05-18T04:55:19.824Z,1621313719.824 [DAT](INFO): got valid direction response: 04:54:53.7845 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 1,-0.28, 2.066, 1.740, 2.032, 2.009, PHS= 0.053,-0.226, 0.008, RAW= 141.4, 12.7, CAL= 141.9, 9.4, ROT= 68.1, -9.4 2021-05-18T04:55:19.825Z,1621313719.825 [DAT](INFO): #Rx 5: Read range and direction messages. 2021-05-18T04:55:19.826Z,1621313719.826 [DAT](INFO): direction in vehicle frame: [ 0.367979 forward, 0.915377 starboard, -0.163326 keelward ] 2021-05-18T04:55:19.826Z,1621313719.826 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone 2021-05-18T04:55:19.826Z,1621313719.826 [DAT](INFO): publishing direction and range info 2021-05-18T04:55:19.869Z,1621313719.869 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:55:19.870Z,1621313719.870 [lab_range_test:A.](INFO): direction in vehicle frame: [ 0.367979 forward, 0.915377 starboard, -0.163326 keelward ] 2021-05-18T04:55:19.870Z,1621313719.870 [lab_range_test:A.](DEBUG): processing response from DAT 2021-05-18T04:55:19.880Z,1621313719.880 [lab_range_test:A.](INFO): rotationFromVehicleToNavigationFrame_ = [ 0.999297,-0.037387,-0.002815;0.037446,0.998991,0.024782;0.001886,-0.024870,0.999689 ] 2021-05-18T04:55:19.881Z,1621313719.881 [lab_range_test:A.](INFO): rangeToContact_ = 0.300000 m 2021-05-18T04:55:19.881Z,1621313719.881 [lab_range_test:A.](INFO): direction in world frame: [ 0.401690 north, 0.904758 east, -0.141626 down ] 2021-05-18T04:55:19.882Z,1621313719.882 [lab_range_test:A.](INFO): relPosInFSK: [ 0.110394 forward, 0.274613 starboard, -0.048998 keelward ] 2021-05-18T04:55:19.888Z,1621313719.888 [lab_range_test:A.](INFO): relPosInNED: [ 0.120507 north, 0.271427 east, -0.042488 down ] 2021-05-18T04:55:19.889Z,1621313719.889 [lab_range_test:A.](DEBUG): Combining 5 samples. 2021-05-18T04:55:19.889Z,1621313719.889 [lab_range_test:A.](DEBUG): Could not read vehicle position; cannot calculate contact position. 2021-05-18T04:55:20.197Z,1621313720.197 [DAT](INFO): DAT read: Rx Time:04:54:54.2845 2021-05-18T04:55:20.197Z,1621313720.197 [DAT](INFO): received an acoustic signal 2021-05-18T04:55:20.199Z,1621313720.199 [DAT](INFO): DAT read: Bearing 68.1, -9.2 (Local) 2021-05-18T04:55:20.200Z,1621313720.200 [DAT](INFO): Local bearing/azimuth received: Bearing 68.1, -9.2 (Local) 2021-05-18T04:55:20.202Z,1621313720.202 [DAT](INFO): DAT read: Range 7 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0 2021-05-18T04:55:20.203Z,1621313720.203 [DAT](ERROR): #Rx 6: Read range message, but no direction. 2021-05-18T04:55:20.203Z,1621313720.203 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone 2021-05-18T04:55:20.234Z,1621313720.234 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:55:20.235Z,1621313720.235 [lab_range_test:A.](INFO): direction in vehicle frame: [ 0.367979 forward, 0.915377 starboard, -0.163326 keelward ] 2021-05-18T04:55:20.236Z,1621313720.236 [lab_range_test:A.](DEBUG): processing response from DAT 2021-05-18T04:55:20.238Z,1621313720.238 [lab_range_test:A.](INFO): rotationFromVehicleToNavigationFrame_ = [ 0.999260,-0.038370,-0.002745;0.038426,0.998956,0.024698;0.001794,-0.024785,0.999691 ] 2021-05-18T04:55:20.238Z,1621313720.238 [lab_range_test:A.](INFO): rangeToContact_ = 0.300000 m 2021-05-18T04:55:20.239Z,1621313720.239 [lab_range_test:A.](INFO): direction in world frame: [ 0.402588 north, 0.904351 east, -0.141677 down ] 2021-05-18T04:55:20.240Z,1621313720.240 [lab_range_test:A.](INFO): relPosInFSK: [ 0.110394 forward, 0.274613 starboard, -0.048998 keelward ] 2021-05-18T04:55:20.240Z,1621313720.240 [lab_range_test:A.](INFO): relPosInNED: [ 0.120777 north, 0.271305 east, -0.042503 down ] 2021-05-18T04:55:20.241Z,1621313720.241 [lab_range_test:A.](DEBUG): Combining 5 samples. 2021-05-18T04:55:20.241Z,1621313720.241 [lab_range_test:A.](DEBUG): Could not read vehicle position; cannot calculate contact position. 2021-05-18T04:55:20.598Z,1621313720.598 [DAT](INFO): DAT read: 04:54:54.2845 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 480,-0.13, 1.370, 1.058, 1.339, 1.315, PHS= 0.051,-0.213, 0.008, RAW= 141.4, 12.5, CAL= 141.9, 9.2, ROT= 68.1, -9.2 2021-05-18T04:55:20.600Z,1621313720.600 [DAT](INFO): got valid direction response: 04:54:54.2845 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 480,-0.13, 1.370, 1.058, 1.339, 1.315, PHS= 0.051,-0.213, 0.008, RAW= 141.4, 12.5, CAL= 141.9, 9.2, ROT= 68.1, -9.2 2021-05-18T04:55:20.601Z,1621313720.601 [DAT](INFO): #Rx 7: Read direction message, but no range. 2021-05-18T04:55:20.602Z,1621313720.602 [DAT](INFO): direction in vehicle frame: [ 0.368190 forward, 0.915901 starboard, -0.159881 keelward ] 2021-05-18T04:55:20.637Z,1621313720.637 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:55:21.017Z,1621313721.017 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:55:21.412Z,1621313721.412 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:55:21.824Z,1621313721.824 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:55:22.249Z,1621313722.249 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:55:22.659Z,1621313722.659 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:55:23.050Z,1621313723.050 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:55:23.439Z,1621313723.439 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:55:23.837Z,1621313723.837 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:55:24.242Z,1621313724.242 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:55:24.645Z,1621313724.645 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:55:25.073Z,1621313725.073 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:55:25.477Z,1621313725.477 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:55:25.478Z,1621313725.478 [lab_range_test:A.](INFO): update period (5.000000 s) has elapsed, querying... 2021-05-18T04:55:25.478Z,1621313725.478 [lab_range_test:A.](INFO): *** querying DAT *** 2021-05-18T04:55:25.857Z,1621313725.857 [DAT](INFO): ****** received valid address query ****** 2021-05-18T04:55:25.857Z,1621313725.857 [DAT](INFO): ****** received valid ping request ****** 2021-05-18T04:55:25.857Z,1621313725.857 [DAT](INFO): Querying Benthos address 50 with 5 pings in terminal homing one-way mode. 2021-05-18T04:55:25.859Z,1621313725.859 [DAT](INFO): ****** ping requested ****** 2021-05-18T04:55:25.910Z,1621313725.910 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:55:26.250Z,1621313726.250 [DAT](INFO): DAT read: user:14> 2021-05-18T04:55:26.252Z,1621313726.252 [DAT](INFO): DAT read: Tx time:04:55:00.6547 2021-05-18T04:55:26.252Z,1621313726.252 [DAT](INFO): Ping request sent. 2021-05-18T04:55:26.252Z,1621313726.252 [DAT](INFO): transmitted an acoustic signal 2021-05-18T04:55:26.252Z,1621313726.252 [DAT](INFO): publishing transmit ping time 2021-05-18T04:55:26.253Z,1621313726.253 [DAT](INFO): checking for new query: numPingsReceived=0 elapsed TxPingTime=0.000811 2021-05-18T04:55:26.260Z,1621313726.260 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:55:26.668Z,1621313726.668 [DAT](INFO): checking for new query: numPingsReceived=0 elapsed TxPingTime=0.415751 2021-05-18T04:55:26.675Z,1621313726.675 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:55:27.059Z,1621313727.059 [DAT](INFO): checking for new query: numPingsReceived=0 elapsed TxPingTime=0.807272 2021-05-18T04:55:27.073Z,1621313727.073 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:55:27.471Z,1621313727.471 [DAT](INFO): checking for new query: numPingsReceived=0 elapsed TxPingTime=1.218757 2021-05-18T04:55:27.478Z,1621313727.478 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:55:27.866Z,1621313727.866 [DAT](INFO): checking for new query: numPingsReceived=0 elapsed TxPingTime=1.614154 2021-05-18T04:55:27.877Z,1621313727.877 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:55:28.281Z,1621313728.281 [DAT](INFO): checking for new query: numPingsReceived=0 elapsed TxPingTime=2.029409 2021-05-18T04:55:28.301Z,1621313728.301 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:55:28.694Z,1621313728.694 [DAT](INFO): DAT read: Rx Time:04:55:02.7844 2021-05-18T04:55:28.694Z,1621313728.694 [DAT](INFO): received an acoustic signal 2021-05-18T04:55:28.695Z,1621313728.695 [DAT](INFO): DAT read: Bearing 70.9, -7.5 (Local) 2021-05-18T04:55:28.696Z,1621313728.696 [DAT](INFO): Local bearing/azimuth received: Bearing 70.9, -7.5 (Local) 2021-05-18T04:55:28.698Z,1621313728.698 [DAT](INFO): DAT read: Range 7 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0 2021-05-18T04:55:28.715Z,1621313728.715 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2021-05-18T04:55:28.715Z,1621313728.715 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone 2021-05-18T04:55:28.716Z,1621313728.716 [DAT](INFO): checking for new query: numPingsReceived=1 elapsed TxPingTime=2.463865 2021-05-18T04:55:28.766Z,1621313728.766 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:55:28.775Z,1621313728.775 [lab_range_test:A.](INFO): direction in vehicle frame: [ 0.368190 forward, 0.915901 starboard, -0.159881 keelward ] 2021-05-18T04:55:28.775Z,1621313728.775 [lab_range_test:A.](DEBUG): processing response from DAT 2021-05-18T04:55:28.777Z,1621313728.777 [lab_range_test:A.](INFO): rotationFromVehicleToNavigationFrame_ = [ 0.999314,-0.036932,-0.002651;0.036987,0.999005,0.024925;0.001728,-0.025006,0.999686 ] 2021-05-18T04:55:28.778Z,1621313728.778 [lab_range_test:A.](INFO): rangeToContact_ = 0.300000 m 2021-05-18T04:55:28.778Z,1621313728.778 [lab_range_test:A.](INFO): direction in world frame: [ 0.401537 north, 0.905389 east, -0.137978 down ] 2021-05-18T04:55:28.787Z,1621313728.787 [lab_range_test:A.](INFO): relPosInFSK: [ 0.110457 forward, 0.274770 starboard, -0.047964 keelward ] 2021-05-18T04:55:28.788Z,1621313728.788 [lab_range_test:A.](INFO): relPosInNED: [ 0.120461 north, 0.271617 east, -0.041393 down ] 2021-05-18T04:55:28.788Z,1621313728.788 [lab_range_test:A.](DEBUG): Combining 5 samples. 2021-05-18T04:55:28.788Z,1621313728.788 [lab_range_test:A.](DEBUG): Could not read vehicle position; cannot calculate contact position. 2021-05-18T04:55:29.109Z,1621313729.109 [DAT](INFO): DAT read: 04:55:02.7844 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 208, 0.18,-0.085,-0.354,-0.120,-0.142, PHS= 0.054,-0.168, 0.007, RAW= 138.5, 10.6, CAL= 139.1, 7.5, ROT= 70.9, -7.5 2021-05-18T04:55:29.131Z,1621313729.131 [DAT](INFO): got valid direction response: 04:55:02.7844 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 208, 0.18,-0.085,-0.354,-0.120,-0.142, PHS= 0.054,-0.168, 0.007, RAW= 138.5, 10.6, CAL= 139.1, 7.5, ROT= 70.9, -7.5 2021-05-18T04:55:29.132Z,1621313729.132 [DAT](INFO): DAT read: Rx Time:04:55:03.2841 2021-05-18T04:55:29.133Z,1621313729.133 [DAT](INFO): received an acoustic signal 2021-05-18T04:55:29.134Z,1621313729.134 [DAT](INFO): DAT read: Bearing 71.9, -6.8 (Local) 2021-05-18T04:55:29.134Z,1621313729.134 [DAT](INFO): Local bearing/azimuth received: Bearing 71.9, -6.8 (Local) 2021-05-18T04:55:29.141Z,1621313729.141 [DAT](INFO): DAT read: Range 7 to 50 : 0.0 m (trip time 0.0 ms) speed 0.0 2021-05-18T04:55:29.141Z,1621313729.141 [DAT](INFO): unknown deviceResponse_: Range 7 to 50 : 0.0 m (trip time 0.0 ms) speed 0.0 2021-05-18T04:55:29.142Z,1621313729.142 [DAT](INFO): #Rx 2: Read direction message, but no range. 2021-05-18T04:55:29.147Z,1621313729.147 [DAT](INFO): direction in vehicle frame: [ 0.324419 forward, 0.936865 starboard, -0.130526 keelward ] 2021-05-18T04:55:29.148Z,1621313729.148 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone 2021-05-18T04:55:29.155Z,1621313729.155 [DAT](INFO): checking for new query: numPingsReceived=2 elapsed TxPingTime=2.903089 2021-05-18T04:55:29.192Z,1621313729.192 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:55:29.507Z,1621313729.507 [DAT](INFO): DAT read: 04:55:03.2841 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 494, 0.34,-2.625,-2.899,-2.666,-2.688, PHS= 0.059,-0.167, 0.007, RAW= 137.3, 9.8, CAL= 138.1, 6.8, ROT= 71.9, -6.8 2021-05-18T04:55:29.508Z,1621313729.508 [DAT](INFO): got valid direction response: 04:55:03.2841 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 494, 0.34,-2.625,-2.899,-2.666,-2.688, PHS= 0.059,-0.167, 0.007, RAW= 137.3, 9.8, CAL= 138.1, 6.8, ROT= 71.9, -6.8 2021-05-18T04:55:29.509Z,1621313729.509 [DAT](INFO): DAT read: Rx Time:04:55:03.7842 2021-05-18T04:55:29.510Z,1621313729.510 [DAT](INFO): received an acoustic signal 2021-05-18T04:55:29.511Z,1621313729.511 [DAT](INFO): DAT read: Bearing 113.4, 10.5 (Local) 2021-05-18T04:55:29.515Z,1621313729.515 [DAT](INFO): Local bearing/azimuth received: Bearing 113.4, 10.5 (Local) 2021-05-18T04:55:29.516Z,1621313729.516 [DAT](INFO): #Rx 3: Read direction message, but no range. 2021-05-18T04:55:29.517Z,1621313729.517 [DAT](INFO): direction in vehicle frame: [ 0.308491 forward, 0.943829 starboard, -0.118404 keelward ] 2021-05-18T04:55:29.517Z,1621313729.517 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone 2021-05-18T04:55:29.525Z,1621313729.525 [DAT](INFO): checking for new query: numPingsReceived=3 elapsed TxPingTime=3.272777 2021-05-18T04:55:29.566Z,1621313729.566 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:55:29.896Z,1621313729.896 [DAT](INFO): DAT read: Range 7 to 50 : 0.0 m (trip time 0.0 ms) speed 0.0 2021-05-18T04:55:29.896Z,1621313729.896 [DAT](INFO): unknown deviceResponse_: Range 7 to 50 : 0.0 m (trip time 0.0 ms) speed 0.0 2021-05-18T04:55:29.925Z,1621313729.925 [DAT](INFO): DAT read: 04:55:03.7842 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 512,-0.34,-3.072, 0.174, 0.580, 0.986, PHS= 2.220,-0.768,-0.421, RAW= 96.1, -7.3, CAL= 96.6, -10.5, ROT= 113.4, 10.5 2021-05-18T04:55:29.926Z,1621313729.926 [DAT](INFO): got valid direction response: 04:55:03.7842 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 512,-0.34,-3.072, 0.174, 0.580, 0.986, PHS= 2.220,-0.768,-0.421, RAW= 96.1, -7.3, CAL= 96.6, -10.5, ROT= 113.4, 10.5 2021-05-18T04:55:29.935Z,1621313729.935 [DAT](INFO): #Rx 4: Read direction message, but no range. 2021-05-18T04:55:29.936Z,1621313729.936 [DAT](INFO): direction in vehicle frame: [ -0.390498 forward, 0.902387 starboard, 0.182236 keelward ] 2021-05-18T04:55:29.948Z,1621313729.948 [DAT](INFO): checking for new query: numPingsReceived=4 elapsed TxPingTime=3.696051 2021-05-18T04:55:29.993Z,1621313729.993 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:55:30.292Z,1621313730.292 [DAT](INFO): DAT read: Rx Time:04:55:04.2842 2021-05-18T04:55:30.292Z,1621313730.292 [DAT](INFO): received an acoustic signal 2021-05-18T04:55:30.294Z,1621313730.294 [DAT](INFO): DAT read: Bearing 68.1, -9.2 (Local) 2021-05-18T04:55:30.294Z,1621313730.294 [DAT](INFO): Local bearing/azimuth received: Bearing 68.1, -9.2 (Local) 2021-05-18T04:55:30.297Z,1621313730.297 [DAT](INFO): DAT read: Range 7 to 50 : 0.0 m (trip time 0.0 ms) speed 0.0 2021-05-18T04:55:30.297Z,1621313730.297 [DAT](INFO): unknown deviceResponse_: Range 7 to 50 : 0.0 m (trip time 0.0 ms) speed 0.0 2021-05-18T04:55:30.306Z,1621313730.306 [DAT](INFO): DAT read: 04:55:04.2842 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 511,-0.18, 1.118, 0.779, 1.082, 1.058, PHS= 0.056,-0.235, 0.009, RAW= 141.3, 12.5, CAL= 141.9, 9.2, ROT= 68.1, -9.2 2021-05-18T04:55:30.311Z,1621313730.311 [DAT](INFO): got valid direction response: 04:55:04.2842 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 511,-0.18, 1.118, 0.779, 1.082, 1.058, PHS= 0.056,-0.235, 0.009, RAW= 141.3, 12.5, CAL= 141.9, 9.2, ROT= 68.1, -9.2 2021-05-18T04:55:30.312Z,1621313730.312 [DAT](INFO): #Rx 5: Read direction message, but no range. 2021-05-18T04:55:30.313Z,1621313730.313 [DAT](INFO): direction in vehicle frame: [ 0.368190 forward, 0.915901 starboard, -0.159881 keelward ] 2021-05-18T04:55:30.313Z,1621313730.313 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone 2021-05-18T04:55:30.352Z,1621313730.352 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:55:30.699Z,1621313730.699 [DAT](INFO): DAT read: Rx Time:04:55:04.7843 2021-05-18T04:55:30.700Z,1621313730.700 [DAT](INFO): received an acoustic signal 2021-05-18T04:55:30.701Z,1621313730.701 [DAT](INFO): DAT read: Bearing 75.9, -6.6 (Local) 2021-05-18T04:55:30.701Z,1621313730.701 [DAT](INFO): Local bearing/azimuth received: Bearing 75.9, -6.6 (Local) 2021-05-18T04:55:30.704Z,1621313730.704 [DAT](INFO): DAT read: Range 7 to 50 : 0.2 m (trip time 0.1 ms) speed 0.0 2021-05-18T04:55:30.705Z,1621313730.705 [DAT](ERROR): #Rx 6: Read range message, but no direction. 2021-05-18T04:55:30.705Z,1621313730.705 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone 2021-05-18T04:55:30.761Z,1621313730.761 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:55:30.762Z,1621313730.762 [lab_range_test:A.](INFO): direction in vehicle frame: [ 0.368190 forward, 0.915901 starboard, -0.159881 keelward ] 2021-05-18T04:55:30.762Z,1621313730.762 [lab_range_test:A.](DEBUG): processing response from DAT 2021-05-18T04:55:30.770Z,1621313730.770 [lab_range_test:A.](INFO): rotationFromVehicleToNavigationFrame_ = [ 0.999288,-0.037649,-0.002585;0.037702,0.998980,0.024841;0.001647,-0.024920,0.999688 ] 2021-05-18T04:55:30.770Z,1621313730.770 [lab_range_test:A.](INFO): rangeToContact_ = 0.200000 m 2021-05-18T04:55:30.783Z,1621313730.783 [lab_range_test:A.](INFO): direction in world frame: [ 0.402195 north, 0.905089 east, -0.138031 down ] 2021-05-18T04:55:30.784Z,1621313730.784 [lab_range_test:A.](INFO): relPosInFSK: [ 0.073638 forward, 0.183180 starboard, -0.031976 keelward ] 2021-05-18T04:55:30.785Z,1621313730.785 [lab_range_test:A.](INFO): relPosInNED: [ 0.080439 north, 0.181018 east, -0.027606 down ] 2021-05-18T04:55:30.785Z,1621313730.785 [lab_range_test:A.](DEBUG): Combining 5 samples. 2021-05-18T04:55:30.785Z,1621313730.785 [lab_range_test:A.](DEBUG): Could not read vehicle position; cannot calculate contact position. 2021-05-18T04:55:31.117Z,1621313731.117 [DAT](INFO): DAT read: 04:55:04.7843 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 0, 0.67, 2.216, 1.518, 2.031, 2.020, PHS= 0.192,-0.458,-0.004, RAW= 132.9, 9.4, CAL= 134.1, 6.6, ROT= 75.9, -6.6 2021-05-18T04:55:31.118Z,1621313731.118 [DAT](INFO): got valid direction response: 04:55:04.7843 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 0, 0.67, 2.216, 1.518, 2.031, 2.020, PHS= 0.192,-0.458,-0.004, RAW= 132.9, 9.4, CAL= 134.1, 6.6, ROT= 75.9, -6.6 2021-05-18T04:55:31.119Z,1621313731.119 [DAT](INFO): #Rx 7: Read direction message, but no range. 2021-05-18T04:55:31.120Z,1621313731.120 [DAT](INFO): direction in vehicle frame: [ 0.242001 forward, 0.963444 starboard, -0.114937 keelward ] 2021-05-18T04:55:31.151Z,1621313731.151 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:55:31.533Z,1621313731.533 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:55:31.949Z,1621313731.949 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:55:32.324Z,1621313732.324 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:55:32.722Z,1621313732.722 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:55:33.138Z,1621313733.138 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:55:33.552Z,1621313733.552 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:55:33.937Z,1621313733.937 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:55:34.353Z,1621313734.353 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:55:34.765Z,1621313734.765 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:55:35.169Z,1621313735.169 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:55:35.554Z,1621313735.554 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:55:35.954Z,1621313735.954 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:55:35.954Z,1621313735.954 [lab_range_test:A.](INFO): update period (5.000000 s) has elapsed, querying... 2021-05-18T04:55:35.954Z,1621313735.954 [lab_range_test:A.](INFO): *** querying DAT *** 2021-05-18T04:55:36.355Z,1621313736.355 [DAT](INFO): ****** received valid address query ****** 2021-05-18T04:55:36.355Z,1621313736.355 [DAT](INFO): ****** received valid ping request ****** 2021-05-18T04:55:36.356Z,1621313736.356 [DAT](INFO): Querying Benthos address 50 with 5 pings in terminal homing one-way mode. 2021-05-18T04:55:36.357Z,1621313736.357 [DAT](INFO): ****** ping requested ****** 2021-05-18T04:55:36.409Z,1621313736.409 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:55:36.758Z,1621313736.758 [DAT](INFO): DAT read: user:15> 2021-05-18T04:55:36.759Z,1621313736.759 [DAT](INFO): DAT read: Tx time:04:55:11.1546 2021-05-18T04:55:36.760Z,1621313736.760 [DAT](INFO): Ping request sent. 2021-05-18T04:55:36.760Z,1621313736.760 [DAT](INFO): transmitted an acoustic signal 2021-05-18T04:55:36.760Z,1621313736.760 [DAT](INFO): publishing transmit ping time 2021-05-18T04:55:36.761Z,1621313736.761 [DAT](INFO): checking for new query: numPingsReceived=0 elapsed TxPingTime=0.000794 2021-05-18T04:55:36.795Z,1621313736.795 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:55:37.161Z,1621313737.161 [NAL9602](FAULT): GPS failed to acquire within timeout. 2021-05-18T04:55:37.161Z,1621313737.161 [NAL9602] Data Fault, FailCount= 1 2021-05-18T04:55:37.161Z,1621313737.161 [NAL9602](ERROR): Data Fault 2021-05-18T04:55:37.164Z,1621313737.164 [DAT](INFO): checking for new query: numPingsReceived=0 elapsed TxPingTime=0.403647 2021-05-18T04:55:37.173Z,1621313737.173 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:55:37.182Z,1621313737.182 [CBIT](ERROR): Data Fault in component: NAL9602 2021-05-18T04:55:37.560Z,1621313737.560 [NAL9602](INFO): Powering down 2021-05-18T04:55:37.563Z,1621313737.563 [DAT](INFO): checking for new query: numPingsReceived=0 elapsed TxPingTime=0.803134 2021-05-18T04:55:37.577Z,1621313737.577 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:55:37.964Z,1621313737.964 [NAL9602](FAULT): LCB fault: Software Overcurrent. 2021-05-18T04:55:37.964Z,1621313737.964 [NAL9602] Hardware Fault, FailCount= 1 2021-05-18T04:55:37.964Z,1621313737.964 [NAL9602](ERROR): Hardware Fault 2021-05-18T04:55:37.966Z,1621313737.966 [DAT](INFO): checking for new query: numPingsReceived=0 elapsed TxPingTime=1.206548 2021-05-18T04:55:37.999Z,1621313737.999 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:55:38.375Z,1621313738.375 [DAT](INFO): checking for new query: numPingsReceived=0 elapsed TxPingTime=1.614570 2021-05-18T04:55:38.382Z,1621313738.382 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:55:38.416Z,1621313738.416 [CBIT](INFO): Clearing failed state for component NAL9602 2021-05-18T04:55:38.416Z,1621313738.416 [NAL9602] No Fault, FailCount= 1 2021-05-18T04:55:38.774Z,1621313738.774 [DAT](INFO): checking for new query: numPingsReceived=0 elapsed TxPingTime=2.013731 2021-05-18T04:55:38.786Z,1621313738.786 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:55:39.188Z,1621313739.188 [DAT](INFO): DAT read: Rx Time:04:55:13.2842 2021-05-18T04:55:39.188Z,1621313739.188 [DAT](INFO): received an acoustic signal 2021-05-18T04:55:39.189Z,1621313739.189 [DAT](INFO): DAT read: Bearing 71.6, -7.1 (Local) 2021-05-18T04:55:39.190Z,1621313739.190 [DAT](INFO): Local bearing/azimuth received: Bearing 71.6, -7.1 (Local) 2021-05-18T04:55:39.192Z,1621313739.192 [DAT](INFO): DAT read: Range 7 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0 2021-05-18T04:55:39.193Z,1621313739.193 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2021-05-18T04:55:39.193Z,1621313739.193 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone 2021-05-18T04:55:39.194Z,1621313739.194 [DAT](INFO): checking for new query: numPingsReceived=1 elapsed TxPingTime=2.433852 2021-05-18T04:55:39.202Z,1621313739.202 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:55:39.204Z,1621313739.204 [lab_range_test:A.](INFO): direction in vehicle frame: [ 0.242001 forward, 0.963444 starboard, -0.114937 keelward ] 2021-05-18T04:55:39.204Z,1621313739.204 [lab_range_test:A.](DEBUG): processing response from DAT 2021-05-18T04:55:39.206Z,1621313739.206 [lab_range_test:A.](INFO): rotationFromVehicleToNavigationFrame_ = [ 0.999324,-0.036663,-0.002614;0.036717,0.999013,0.024984;0.001696,-0.025063,0.999684 ] 2021-05-18T04:55:39.207Z,1621313739.207 [lab_range_test:A.](INFO): rangeToContact_ = 0.300000 m 2021-05-18T04:55:39.208Z,1621313739.208 [lab_range_test:A.](INFO): direction in world frame: [ 0.277017 north, 0.956502 east, -0.091463 down ] 2021-05-18T04:55:39.208Z,1621313739.208 [lab_range_test:A.](INFO): relPosInFSK: [ 0.072600 forward, 0.289033 starboard, -0.034481 keelward ] 2021-05-18T04:55:39.209Z,1621313739.209 [lab_range_test:A.](INFO): relPosInNED: [ 0.083105 north, 0.286951 east, -0.027439 down ] 2021-05-18T04:55:39.210Z,1621313739.210 [lab_range_test:A.](DEBUG): Combining 5 samples. 2021-05-18T04:55:39.210Z,1621313739.210 [lab_range_test:A.](DEBUG): Could not read vehicle position; cannot calculate contact position. 2021-05-18T04:55:39.605Z,1621313739.605 [DAT](INFO): DAT read: 04:55:13.2842 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 208, 0.25, 1.257, 0.996, 1.220, 1.199, PHS= 0.054,-0.158, 0.006, RAW= 137.7, 10.2, CAL= 138.4, 7.1, ROT= 71.6, -7.1 2021-05-18T04:55:39.607Z,1621313739.607 [DAT](INFO): got valid direction response: 04:55:13.2842 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 208, 0.25, 1.257, 0.996, 1.220, 1.199, PHS= 0.054,-0.158, 0.006, RAW= 137.7, 10.2, CAL= 138.4, 7.1, ROT= 71.6, -7.1 2021-05-18T04:55:39.608Z,1621313739.608 [DAT](INFO): DAT read: Rx Time:04:55:13.7842 2021-05-18T04:55:39.609Z,1621313739.609 [DAT](INFO): received an acoustic signal 2021-05-18T04:55:39.610Z,1621313739.610 [DAT](INFO): DAT read: Bearing 69.5, -8.8 (Local) 2021-05-18T04:55:39.610Z,1621313739.610 [DAT](INFO): Local bearing/azimuth received: Bearing 69.5, -8.8 (Local) 2021-05-18T04:55:39.612Z,1621313739.612 [DAT](INFO): DAT read: Range 7 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0 2021-05-18T04:55:39.613Z,1621313739.613 [DAT](INFO): #Rx 2: Read range and direction messages. 2021-05-18T04:55:39.614Z,1621313739.614 [DAT](INFO): direction in vehicle frame: [ 0.313229 forward, 0.941600 starboard, -0.123601 keelward ] 2021-05-18T04:55:39.615Z,1621313739.615 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone 2021-05-18T04:55:39.615Z,1621313739.615 [DAT](INFO): publishing direction and range info 2021-05-18T04:55:39.618Z,1621313739.618 [DAT](INFO): checking for new query: numPingsReceived=2 elapsed TxPingTime=2.858388 2021-05-18T04:55:39.627Z,1621313739.627 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:55:39.629Z,1621313739.629 [lab_range_test:A.](INFO): direction in vehicle frame: [ 0.313229 forward, 0.941600 starboard, -0.123601 keelward ] 2021-05-18T04:55:39.629Z,1621313739.629 [lab_range_test:A.](DEBUG): processing response from DAT 2021-05-18T04:55:39.632Z,1621313739.632 [lab_range_test:A.](INFO): rotationFromVehicleToNavigationFrame_ = [ 0.999336,-0.036336,-0.002651;0.036391,0.999025,0.024979;0.001741,-0.025059,0.999684 ] 2021-05-18T04:55:39.632Z,1621313739.632 [lab_range_test:A.](INFO): rangeToContact_ = 0.300000 m 2021-05-18T04:55:39.633Z,1621313739.633 [lab_range_test:A.](INFO): direction in world frame: [ 0.347071 north, 0.932398 east, -0.100873 down ] 2021-05-18T04:55:39.634Z,1621313739.634 [lab_range_test:A.](INFO): relPosInFSK: [ 0.093969 forward, 0.282480 starboard, -0.037080 keelward ] 2021-05-18T04:55:39.634Z,1621313739.634 [lab_range_test:A.](INFO): relPosInNED: [ 0.104121 north, 0.279719 east, -0.030262 down ] 2021-05-18T04:55:39.636Z,1621313739.636 [lab_range_test:A.](DEBUG): Combining 5 samples. 2021-05-18T04:55:39.636Z,1621313739.636 [lab_range_test:A.](DEBUG): Could not read vehicle position; cannot calculate contact position. 2021-05-18T04:55:40.012Z,1621313740.012 [DAT](INFO): DAT read: 04:55:13.7842 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 496, 0.48, 0.362, 0.083, 0.330, 0.310, PHS= 0.048,-0.182, 0.006, RAW= 140.0, 12.0, CAL= 140.5, 8.8, ROT= 69.5, -8.8 2021-05-18T04:55:40.013Z,1621313740.013 [DAT](INFO): got valid direction response: 04:55:13.7842 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 496, 0.48, 0.362, 0.083, 0.330, 0.310, PHS= 0.048,-0.182, 0.006, RAW= 140.0, 12.0, CAL= 140.5, 8.8, ROT= 69.5, -8.8 2021-05-18T04:55:40.014Z,1621313740.014 [DAT](INFO): DAT read: Rx Time:04:55:14.2841 2021-05-18T04:55:40.014Z,1621313740.014 [DAT](INFO): received an acoustic signal 2021-05-18T04:55:40.016Z,1621313740.016 [DAT](INFO): DAT read: Bearing 67.9, -10.0 (Local) 2021-05-18T04:55:40.016Z,1621313740.016 [DAT](INFO): Local bearing/azimuth received: Bearing 67.9, -10.0 (Local) 2021-05-18T04:55:40.017Z,1621313740.017 [DAT](INFO): #Rx 3: Read direction message, but no range. 2021-05-18T04:55:40.018Z,1621313740.018 [DAT](INFO): direction in vehicle frame: [ 0.346085 forward, 0.925646 starboard, -0.152986 keelward ] 2021-05-18T04:55:40.018Z,1621313740.018 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone 2021-05-18T04:55:40.022Z,1621313740.022 [DAT](INFO): checking for new query: numPingsReceived=3 elapsed TxPingTime=3.261594 2021-05-18T04:55:40.030Z,1621313740.030 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:55:40.392Z,1621313740.392 [DAT](INFO): DAT read: Range 7 to 50 : 0.2 m (trip time 0.1 ms) speed 0.0 2021-05-18T04:55:40.397Z,1621313740.397 [DAT](INFO): DAT read: 04:55:14.2841 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 496,-0.32,-1.639,-1.965,-1.672,-1.693, PHS= 0.050,-0.228, 0.006, RAW= 141.5, 13.2, CAL= 142.1, 10.0, ROT= 67.9, -10.0 2021-05-18T04:55:40.398Z,1621313740.398 [DAT](INFO): got valid direction response: 04:55:14.2841 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 496,-0.32,-1.639,-1.965,-1.672,-1.693, PHS= 0.050,-0.228, 0.006, RAW= 141.5, 13.2, CAL= 142.1, 10.0, ROT= 67.9, -10.0 2021-05-18T04:55:40.398Z,1621313740.398 [DAT](INFO): #Rx 4: Read range and direction messages. 2021-05-18T04:55:40.399Z,1621313740.399 [DAT](INFO): direction in vehicle frame: [ 0.370509 forward, 0.912453 starboard, -0.173648 keelward ] 2021-05-18T04:55:40.400Z,1621313740.400 [DAT](INFO): publishing direction and range info 2021-05-18T04:55:40.402Z,1621313740.402 [DAT](INFO): checking for new query: numPingsReceived=4 elapsed TxPingTime=3.642507 2021-05-18T04:55:40.454Z,1621313740.454 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:55:40.468Z,1621313740.468 [lab_range_test:A.](INFO): direction in vehicle frame: [ 0.370509 forward, 0.912453 starboard, -0.173648 keelward ] 2021-05-18T04:55:40.468Z,1621313740.468 [lab_range_test:A.](DEBUG): processing response from DAT 2021-05-18T04:55:40.470Z,1621313740.470 [lab_range_test:A.](INFO): rotationFromVehicleToNavigationFrame_ = [ 0.999322,-0.036719,-0.002629;0.036773,0.999013,0.024922;0.001711,-0.025002,0.999686 ] 2021-05-18T04:55:40.471Z,1621313740.471 [lab_range_test:A.](INFO): rangeToContact_ = 0.200000 m 2021-05-18T04:55:40.472Z,1621313740.472 [lab_range_test:A.](INFO): direction in world frame: [ 0.403514 north, 0.902289 east, -0.151828 down ] 2021-05-18T04:55:40.472Z,1621313740.472 [lab_range_test:A.](INFO): relPosInFSK: [ 0.074102 forward, 0.182491 starboard, -0.034730 keelward ] 2021-05-18T04:55:40.473Z,1621313740.473 [lab_range_test:A.](INFO): relPosInNED: [ 0.080703 north, 0.180458 east, -0.030366 down ] 2021-05-18T04:55:40.474Z,1621313740.474 [lab_range_test:A.](DEBUG): Combining 5 samples. 2021-05-18T04:55:40.474Z,1621313740.474 [lab_range_test:A.](DEBUG): Could not read vehicle position; cannot calculate contact position. 2021-05-18T04:55:40.810Z,1621313740.810 [DAT](INFO): DAT read: Rx Time:04:55:14.7843 2021-05-18T04:55:40.810Z,1621313740.810 [DAT](INFO): received an acoustic signal 2021-05-18T04:55:40.812Z,1621313740.812 [DAT](INFO): DAT read: Bearing 67.2, -10.2 (Local) 2021-05-18T04:55:40.812Z,1621313740.812 [DAT](INFO): Local bearing/azimuth received: Bearing 67.2, -10.2 (Local) 2021-05-18T04:55:40.814Z,1621313740.814 [DAT](INFO): DAT read: Range 7 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0 2021-05-18T04:55:40.819Z,1621313740.819 [DAT](INFO): DAT read: 04:55:14.7843 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 1,-0.13,-0.690,-1.003,-0.718,-0.739, PHS= 0.045,-0.220, 0.006, RAW= 142.2, 13.5, CAL= 142.8, 10.2, ROT= 67.2, -10.2 2021-05-18T04:55:40.820Z,1621313740.820 [DAT](INFO): got valid direction response: 04:55:14.7843 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 1,-0.13,-0.690,-1.003,-0.718,-0.739, PHS= 0.045,-0.220, 0.006, RAW= 142.2, 13.5, CAL= 142.8, 10.2, ROT= 67.2, -10.2 2021-05-18T04:55:40.821Z,1621313740.821 [DAT](INFO): #Rx 5: Read range and direction messages. 2021-05-18T04:55:40.822Z,1621313740.822 [DAT](INFO): direction in vehicle frame: [ 0.381391 forward, 0.907294 starboard, -0.177085 keelward ] 2021-05-18T04:55:40.822Z,1621313740.822 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone 2021-05-18T04:55:40.822Z,1621313740.822 [DAT](INFO): publishing direction and range info 2021-05-18T04:55:40.833Z,1621313740.833 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:55:40.834Z,1621313740.834 [lab_range_test:A.](INFO): direction in vehicle frame: [ 0.381391 forward, 0.907294 starboard, -0.177085 keelward ] 2021-05-18T04:55:40.834Z,1621313740.834 [lab_range_test:A.](DEBUG): processing response from DAT 2021-05-18T04:55:40.837Z,1621313740.837 [lab_range_test:A.](INFO): rotationFromVehicleToNavigationFrame_ = [ 0.999281,-0.037838,-0.002554;0.037890,0.998974,0.024807;0.001613,-0.024885,0.999689 ] 2021-05-18T04:55:40.837Z,1621313740.837 [lab_range_test:A.](INFO): rangeToContact_ = 0.500000 m 2021-05-18T04:55:40.838Z,1621313740.838 [lab_range_test:A.](INFO): direction in world frame: [ 0.415208 north, 0.896338 east, -0.155497 down ] 2021-05-18T04:55:40.839Z,1621313740.839 [lab_range_test:A.](INFO): relPosInFSK: [ 0.190696 forward, 0.453647 starboard, -0.088542 keelward ] 2021-05-18T04:55:40.839Z,1621313740.839 [lab_range_test:A.](INFO): relPosInNED: [ 0.207604 north, 0.448169 east, -0.077749 down ] 2021-05-18T04:55:40.840Z,1621313740.840 [lab_range_test:A.](DEBUG): Combining 5 samples. 2021-05-18T04:55:40.840Z,1621313740.840 [lab_range_test:A.](DEBUG): Could not read vehicle position; cannot calculate contact position. 2021-05-18T04:55:41.208Z,1621313741.208 [DAT](INFO): DAT read: Rx Time:04:55:15.2842 2021-05-18T04:55:41.209Z,1621313741.209 [DAT](INFO): received an acoustic signal 2021-05-18T04:55:41.210Z,1621313741.210 [DAT](INFO): DAT read: Bearing 67.7, -9.9 (Local) 2021-05-18T04:55:41.210Z,1621313741.210 [DAT](INFO): Local bearing/azimuth received: Bearing 67.7, -9.9 (Local) 2021-05-18T04:55:41.213Z,1621313741.213 [DAT](INFO): DAT read: Range 7 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0 2021-05-18T04:55:41.214Z,1621313741.214 [DAT](ERROR): #Rx 6: Read range message, but no direction. 2021-05-18T04:55:41.214Z,1621313741.214 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone 2021-05-18T04:55:41.236Z,1621313741.236 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:55:41.237Z,1621313741.237 [lab_range_test:A.](INFO): direction in vehicle frame: [ 0.381391 forward, 0.907294 starboard, -0.177085 keelward ] 2021-05-18T04:55:41.238Z,1621313741.238 [lab_range_test:A.](DEBUG): processing response from DAT 2021-05-18T04:55:41.242Z,1621313741.242 [lab_range_test:A.](INFO): rotationFromVehicleToNavigationFrame_ = [ 0.999295,-0.037472,-0.002482;0.037522,0.998986,0.024891;0.001546,-0.024967,0.999687 ] 2021-05-18T04:55:41.242Z,1621313741.242 [lab_range_test:A.](INFO): rangeToContact_ = 0.300000 m 2021-05-18T04:55:41.244Z,1621313741.244 [lab_range_test:A.](INFO): direction in world frame: [ 0.414892 north, 0.896503 east, -0.155392 down ] 2021-05-18T04:55:41.244Z,1621313741.244 [lab_range_test:A.](INFO): relPosInFSK: [ 0.114417 forward, 0.272188 starboard, -0.053125 keelward ] 2021-05-18T04:55:41.245Z,1621313741.245 [lab_range_test:A.](INFO): relPosInNED: [ 0.124468 north, 0.268951 east, -0.046618 down ] 2021-05-18T04:55:41.245Z,1621313741.245 [lab_range_test:A.](DEBUG): Combining 5 samples. 2021-05-18T04:55:41.245Z,1621313741.245 [lab_range_test:A.](DEBUG): Could not read vehicle position; cannot calculate contact position. 2021-05-18T04:55:41.606Z,1621313741.606 [DAT](INFO): DAT read: 04:55:15.2842 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 496,-0.00,-1.276,-1.573,-1.304,-1.325, PHS= 0.044,-0.204, 0.006, RAW= 141.8, 13.2, CAL= 142.3, 9.9, ROT= 67.7, -9.9 2021-05-18T04:55:41.607Z,1621313741.607 [DAT](INFO): got valid direction response: 04:55:15.2842 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 496,-0.00,-1.276,-1.573,-1.304,-1.325, PHS= 0.044,-0.204, 0.006, RAW= 141.8, 13.2, CAL= 142.3, 9.9, ROT= 67.7, -9.9 2021-05-18T04:55:41.607Z,1621313741.607 [DAT](INFO): #Rx 7: Read direction message, but no range. 2021-05-18T04:55:41.608Z,1621313741.608 [DAT](INFO): direction in vehicle frame: [ 0.373806 forward, 0.911433 starboard, -0.171929 keelward ] 2021-05-18T04:55:41.622Z,1621313741.622 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:55:42.026Z,1621313742.026 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:55:42.429Z,1621313742.429 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:55:42.837Z,1621313742.837 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:55:43.229Z,1621313743.229 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:55:43.633Z,1621313743.633 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:55:44.043Z,1621313744.043 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:55:44.457Z,1621313744.457 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:55:44.844Z,1621313744.844 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:55:45.249Z,1621313745.249 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:55:45.658Z,1621313745.658 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:55:46.069Z,1621313746.069 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:55:46.461Z,1621313746.461 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:55:46.461Z,1621313746.461 [lab_range_test:A.](INFO): update period (5.000000 s) has elapsed, querying... 2021-05-18T04:55:46.462Z,1621313746.462 [lab_range_test:A.](INFO): *** querying DAT *** 2021-05-18T04:55:46.858Z,1621313746.858 [DAT](INFO): ****** received valid address query ****** 2021-05-18T04:55:46.858Z,1621313746.858 [DAT](INFO): ****** received valid ping request ****** 2021-05-18T04:55:46.858Z,1621313746.858 [DAT](INFO): Querying Benthos address 50 with 5 pings in terminal homing one-way mode. 2021-05-18T04:55:46.860Z,1621313746.860 [DAT](INFO): ****** ping requested ****** 2021-05-18T04:55:46.872Z,1621313746.872 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:55:47.267Z,1621313747.267 [DAT](INFO): DAT read: user:16> 2021-05-18T04:55:47.268Z,1621313747.268 [DAT](INFO): DAT read: Tx time:04:55:21.6544 2021-05-18T04:55:47.268Z,1621313747.268 [DAT](INFO): Ping request sent. 2021-05-18T04:55:47.269Z,1621313747.269 [DAT](INFO): transmitted an acoustic signal 2021-05-18T04:55:47.269Z,1621313747.269 [DAT](INFO): publishing transmit ping time 2021-05-18T04:55:47.270Z,1621313747.270 [DAT](INFO): checking for new query: numPingsReceived=0 elapsed TxPingTime=0.000965 2021-05-18T04:55:47.277Z,1621313747.277 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:55:47.662Z,1621313747.662 [DAT](INFO): checking for new query: numPingsReceived=0 elapsed TxPingTime=0.393269 2021-05-18T04:55:47.695Z,1621313747.695 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:55:48.074Z,1621313748.074 [DAT](INFO): checking for new query: numPingsReceived=0 elapsed TxPingTime=0.805516 2021-05-18T04:55:48.081Z,1621313748.081 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:55:48.474Z,1621313748.474 [DAT](INFO): checking for new query: numPingsReceived=0 elapsed TxPingTime=1.205098 2021-05-18T04:55:48.481Z,1621313748.481 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:55:48.878Z,1621313748.878 [DAT](INFO): checking for new query: numPingsReceived=0 elapsed TxPingTime=1.609296 2021-05-18T04:55:48.895Z,1621313748.895 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:55:49.282Z,1621313749.282 [DAT](INFO): checking for new query: numPingsReceived=0 elapsed TxPingTime=2.013546 2021-05-18T04:55:49.306Z,1621313749.306 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:55:49.687Z,1621313749.687 [DAT](INFO): DAT read: Rx Time:04:55:23.7841 2021-05-18T04:55:49.687Z,1621313749.687 [DAT](INFO): received an acoustic signal 2021-05-18T04:55:49.689Z,1621313749.689 [DAT](INFO): DAT read: Bearing 71.9, -6.4 (Local) 2021-05-18T04:55:49.689Z,1621313749.689 [DAT](INFO): Local bearing/azimuth received: Bearing 71.9, -6.4 (Local) 2021-05-18T04:55:49.691Z,1621313749.691 [DAT](INFO): DAT read: Range 7 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0 2021-05-18T04:55:49.692Z,1621313749.692 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2021-05-18T04:55:49.693Z,1621313749.693 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone 2021-05-18T04:55:49.693Z,1621313749.693 [DAT](INFO): checking for new query: numPingsReceived=1 elapsed TxPingTime=2.424888 2021-05-18T04:55:49.702Z,1621313749.702 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:55:49.716Z,1621313749.716 [lab_range_test:A.](INFO): direction in vehicle frame: [ 0.373806 forward, 0.911433 starboard, -0.171929 keelward ] 2021-05-18T04:55:49.716Z,1621313749.716 [lab_range_test:A.](DEBUG): processing response from DAT 2021-05-18T04:55:49.718Z,1621313749.718 [lab_range_test:A.](INFO): rotationFromVehicleToNavigationFrame_ = [ 0.999322,-0.036704,-0.002744;0.036761,0.999014,0.024912;0.001827,-0.024996,0.999686 ] 2021-05-18T04:55:49.723Z,1621313749.723 [lab_range_test:A.](INFO): rangeToContact_ = 0.300000 m 2021-05-18T04:55:49.724Z,1621313749.724 [lab_range_test:A.](INFO): direction in world frame: [ 0.406744 north, 0.901111 east, -0.150195 down ] 2021-05-18T04:55:49.725Z,1621313749.725 [lab_range_test:A.](INFO): relPosInFSK: [ 0.112142 forward, 0.273430 starboard, -0.051579 keelward ] 2021-05-18T04:55:49.726Z,1621313749.726 [lab_range_test:A.](INFO): relPosInNED: [ 0.122023 north, 0.270333 east, -0.045058 down ] 2021-05-18T04:55:49.726Z,1621313749.726 [lab_range_test:A.](DEBUG): Combining 5 samples. 2021-05-18T04:55:49.726Z,1621313749.726 [lab_range_test:A.](DEBUG): Could not read vehicle position; cannot calculate contact position. 2021-05-18T04:55:50.098Z,1621313750.098 [DAT](INFO): DAT read: 04:55:23.7841 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 208, 0.29, 3.043, 2.771, 3.003, 2.979, PHS= 0.060,-0.164, 0.009, RAW= 137.3, 9.4, CAL= 138.1, 6.4, ROT= 71.9, -6.4 2021-05-18T04:55:50.100Z,1621313750.100 [DAT](INFO): got valid direction response: 04:55:23.7841 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 208, 0.29, 3.043, 2.771, 3.003, 2.979, PHS= 0.060,-0.164, 0.009, RAW= 137.3, 9.4, CAL= 138.1, 6.4, ROT= 71.9, -6.4 2021-05-18T04:55:50.101Z,1621313750.101 [DAT](INFO): DAT read: Rx Time:04:55:24.2839 2021-05-18T04:55:50.101Z,1621313750.101 [DAT](INFO): received an acoustic signal 2021-05-18T04:55:50.102Z,1621313750.102 [DAT](INFO): DAT read: Bearing 67.2, -10.7 (Local) 2021-05-18T04:55:50.102Z,1621313750.102 [DAT](INFO): Local bearing/azimuth received: Bearing 67.2, -10.7 (Local) 2021-05-18T04:55:50.104Z,1621313750.104 [DAT](INFO): DAT read: Range 7 to 50 : 0.0 m (trip time 0.0 ms) speed 0.0 2021-05-18T04:55:50.105Z,1621313750.105 [DAT](INFO): unknown deviceResponse_: Range 7 to 50 : 0.0 m (trip time 0.0 ms) speed 0.0 2021-05-18T04:55:50.105Z,1621313750.105 [DAT](INFO): #Rx 2: Read direction message, but no range. 2021-05-18T04:55:50.106Z,1621313750.106 [DAT](INFO): direction in vehicle frame: [ 0.308740 forward, 0.944592 starboard, -0.111469 keelward ] 2021-05-18T04:55:50.107Z,1621313750.107 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone 2021-05-18T04:55:50.110Z,1621313750.110 [DAT](INFO): checking for new query: numPingsReceived=2 elapsed TxPingTime=2.841658 2021-05-18T04:55:50.123Z,1621313750.123 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:55:50.514Z,1621313750.514 [DAT](INFO): DAT read: 04:55:24.2839 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 495,-0.43,-1.650,-1.975,-1.680,-1.699, PHS= 0.045,-0.232, 0.004, RAW= 142.2, 14.0, CAL= 142.8, 10.7, ROT= 67.2, -10.7 2021-05-18T04:55:50.515Z,1621313750.515 [DAT](INFO): got valid direction response: 04:55:24.2839 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 495,-0.43,-1.650,-1.975,-1.680,-1.699, PHS= 0.045,-0.232, 0.004, RAW= 142.2, 14.0, CAL= 142.8, 10.7, ROT= 67.2, -10.7 2021-05-18T04:55:50.516Z,1621313750.516 [DAT](INFO): DAT read: Rx Time:04:55:24.7841 2021-05-18T04:55:50.517Z,1621313750.517 [DAT](INFO): received an acoustic signal 2021-05-18T04:55:50.517Z,1621313750.517 [DAT](INFO): DAT read: Bearing 83.1, -2.3 (Local) 2021-05-18T04:55:50.518Z,1621313750.518 [DAT](INFO): Local bearing/azimuth received: Bearing 83.1, -2.3 (Local) 2021-05-18T04:55:50.518Z,1621313750.518 [DAT](INFO): #Rx 3: Read direction message, but no range. 2021-05-18T04:55:50.520Z,1621313750.520 [DAT](INFO): direction in vehicle frame: [ 0.380778 forward, 0.905835 starboard, -0.185667 keelward ] 2021-05-18T04:55:50.520Z,1621313750.520 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone 2021-05-18T04:55:50.524Z,1621313750.524 [DAT](INFO): checking for new query: numPingsReceived=3 elapsed TxPingTime=3.254933 2021-05-18T04:55:50.532Z,1621313750.532 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:55:50.895Z,1621313750.895 [DAT](INFO): DAT read: Range 7 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0 2021-05-18T04:55:50.900Z,1621313750.900 [DAT](INFO): DAT read: 04:55:24.7841 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 0, 0.70, 2.527, 1.466, 2.102, 2.103, PHS= 0.419,-0.593,-0.017, RAW= 124.6, 4.4, CAL= 126.9, 2.3, ROT= 83.1, -2.3 2021-05-18T04:55:50.901Z,1621313750.901 [DAT](INFO): got valid direction response: 04:55:24.7841 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 0, 0.70, 2.527, 1.466, 2.102, 2.103, PHS= 0.419,-0.593,-0.017, RAW= 124.6, 4.4, CAL= 126.9, 2.3, ROT= 83.1, -2.3 2021-05-18T04:55:50.902Z,1621313750.902 [DAT](INFO): #Rx 4: Read range and direction messages. 2021-05-18T04:55:50.902Z,1621313750.902 [DAT](INFO): direction in vehicle frame: [ 0.120040 forward, 0.991958 starboard, -0.040132 keelward ] 2021-05-18T04:55:50.903Z,1621313750.903 [DAT](INFO): publishing direction and range info 2021-05-18T04:55:50.906Z,1621313750.906 [DAT](INFO): checking for new query: numPingsReceived=4 elapsed TxPingTime=3.637175 2021-05-18T04:55:50.917Z,1621313750.917 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:55:50.918Z,1621313750.918 [lab_range_test:A.](INFO): direction in vehicle frame: [ 0.120040 forward, 0.991958 starboard, -0.040132 keelward ] 2021-05-18T04:55:50.919Z,1621313750.919 [lab_range_test:A.](DEBUG): processing response from DAT 2021-05-18T04:55:50.949Z,1621313750.949 [lab_range_test:A.](INFO): rotationFromVehicleToNavigationFrame_ = [ 0.999320,-0.036764,-0.002658;0.036819,0.999010,0.024976;0.001737,-0.025056,0.999685 ] 2021-05-18T04:55:50.950Z,1621313750.950 [lab_range_test:A.](INFO): rangeToContact_ = 0.300000 m 2021-05-18T04:55:50.959Z,1621313750.959 [lab_range_test:A.](INFO): direction in world frame: [ 0.156411 north, 0.987568 east, -0.015663 down ] 2021-05-18T04:55:50.960Z,1621313750.960 [lab_range_test:A.](INFO): relPosInFSK: [ 0.036012 forward, 0.297587 starboard, -0.012040 keelward ] 2021-05-18T04:55:50.961Z,1621313750.961 [lab_range_test:A.](INFO): relPosInNED: [ 0.046923 north, 0.296270 east, -0.004699 down ] 2021-05-18T04:55:50.961Z,1621313750.961 [lab_range_test:A.](DEBUG): Combining 5 samples. 2021-05-18T04:55:50.961Z,1621313750.961 [lab_range_test:A.](DEBUG): Could not read vehicle position; cannot calculate contact position. 2021-05-18T04:55:51.313Z,1621313751.313 [DAT](INFO): DAT read: Rx Time:04:55:25.2840 2021-05-18T04:55:51.313Z,1621313751.313 [DAT](INFO): received an acoustic signal 2021-05-18T04:55:51.315Z,1621313751.315 [DAT](INFO): DAT read: Bearing 70.2, -8.2 (Local) 2021-05-18T04:55:51.315Z,1621313751.315 [DAT](INFO): Local bearing/azimuth received: Bearing 70.2, -8.2 (Local) 2021-05-18T04:55:51.317Z,1621313751.317 [DAT](INFO): DAT read: Range 7 to 50 : 0.2 m (trip time 0.1 ms) speed 0.0 2021-05-18T04:55:51.322Z,1621313751.322 [DAT](INFO): DAT read: 04:55:25.2840 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 495,-0.09,-1.386,-1.725,-1.433,-1.455, PHS= 0.066,-0.226, 0.008, RAW= 139.2, 11.4, CAL= 139.8, 8.2, ROT= 70.2, -8.2 2021-05-18T04:55:51.323Z,1621313751.323 [DAT](INFO): got valid direction response: 04:55:25.2840 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 495,-0.09,-1.386,-1.725,-1.433,-1.455, PHS= 0.066,-0.226, 0.008, RAW= 139.2, 11.4, CAL= 139.8, 8.2, ROT= 70.2, -8.2 2021-05-18T04:55:51.323Z,1621313751.323 [DAT](INFO): #Rx 5: Read range and direction messages. 2021-05-18T04:55:51.324Z,1621313751.324 [DAT](INFO): direction in vehicle frame: [ 0.335275 forward, 0.931261 starboard, -0.142629 keelward ] 2021-05-18T04:55:51.325Z,1621313751.325 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone 2021-05-18T04:55:51.325Z,1621313751.325 [DAT](INFO): publishing direction and range info 2021-05-18T04:55:51.334Z,1621313751.334 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:55:51.335Z,1621313751.335 [lab_range_test:A.](INFO): direction in vehicle frame: [ 0.335275 forward, 0.931261 starboard, -0.142629 keelward ] 2021-05-18T04:55:51.336Z,1621313751.336 [lab_range_test:A.](DEBUG): processing response from DAT 2021-05-18T04:55:51.338Z,1621313751.338 [lab_range_test:A.](INFO): rotationFromVehicleToNavigationFrame_ = [ 0.999330,-0.036512,-0.002710;0.036568,0.999019,0.024972;0.001796,-0.025054,0.999684 ] 2021-05-18T04:55:51.338Z,1621313751.338 [lab_range_test:A.](INFO): rangeToContact_ = 0.200000 m 2021-05-18T04:55:51.339Z,1621313751.339 [lab_range_test:A.](INFO): direction in world frame: [ 0.368848 north, 0.921680 east, -0.120238 down ] 2021-05-18T04:55:51.340Z,1621313751.340 [lab_range_test:A.](INFO): relPosInFSK: [ 0.067055 forward, 0.186252 starboard, -0.028526 keelward ] 2021-05-18T04:55:51.340Z,1621313751.340 [lab_range_test:A.](INFO): relPosInNED: [ 0.073770 north, 0.184336 east, -0.024048 down ] 2021-05-18T04:55:51.341Z,1621313751.341 [lab_range_test:A.](DEBUG): Combining 5 samples. 2021-05-18T04:55:51.341Z,1621313751.341 [lab_range_test:A.](DEBUG): Could not read vehicle position; cannot calculate contact position. 2021-05-18T04:55:51.711Z,1621313751.711 [DAT](INFO): DAT read: Rx Time:04:55:25.7841 2021-05-18T04:55:51.711Z,1621313751.711 [DAT](INFO): received an acoustic signal 2021-05-18T04:55:51.713Z,1621313751.713 [DAT](INFO): DAT read: Bearing 74.1, -8.2 (Local) 2021-05-18T04:55:51.713Z,1621313751.713 [DAT](INFO): Local bearing/azimuth received: Bearing 74.1, -8.2 (Local) 2021-05-18T04:55:51.716Z,1621313751.716 [DAT](INFO): DAT read: Range 7 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0 2021-05-18T04:55:51.717Z,1621313751.717 [DAT](ERROR): #Rx 6: Read range message, but no direction. 2021-05-18T04:55:51.717Z,1621313751.717 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone 2021-05-18T04:55:51.726Z,1621313751.726 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:55:51.744Z,1621313751.744 [lab_range_test:A.](INFO): direction in vehicle frame: [ 0.335275 forward, 0.931261 starboard, -0.142629 keelward ] 2021-05-18T04:55:51.744Z,1621313751.744 [lab_range_test:A.](DEBUG): processing response from DAT 2021-05-18T04:55:51.746Z,1621313751.746 [lab_range_test:A.](INFO): rotationFromVehicleToNavigationFrame_ = [ 0.999337,-0.036312,-0.002717;0.036369,0.999026,0.024985;0.001807,-0.025067,0.999684 ] 2021-05-18T04:55:51.747Z,1621313751.747 [lab_range_test:A.](INFO): rangeToContact_ = 0.300000 m 2021-05-18T04:55:51.752Z,1621313751.752 [lab_range_test:A.](INFO): direction in world frame: [ 0.368663 north, 0.921755 east, -0.120228 down ] 2021-05-18T04:55:51.753Z,1621313751.753 [lab_range_test:A.](INFO): relPosInFSK: [ 0.100582 forward, 0.279378 starboard, -0.042789 keelward ] 2021-05-18T04:55:51.754Z,1621313751.754 [lab_range_test:A.](INFO): relPosInNED: [ 0.110599 north, 0.276527 east, -0.036068 down ] 2021-05-18T04:55:51.754Z,1621313751.754 [lab_range_test:A.](DEBUG): Combining 5 samples. 2021-05-18T04:55:51.754Z,1621313751.754 [lab_range_test:A.](DEBUG): Could not read vehicle position; cannot calculate contact position. 2021-05-18T04:55:52.110Z,1621313752.110 [DAT](INFO): DAT read: 04:55:25.7841 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 0, 0.71,-0.323,-0.964,-0.472,-0.479, PHS= 0.152,-0.442,-0.008, RAW= 134.9, 11.2, CAL= 135.9, 8.2, ROT= 74.1, -8.2 2021-05-18T04:55:52.111Z,1621313752.111 [DAT](INFO): got valid direction response: 04:55:25.7841 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 0, 0.71,-0.323,-0.964,-0.472,-0.479, PHS= 0.152,-0.442,-0.008, RAW= 134.9, 11.2, CAL= 135.9, 8.2, ROT= 74.1, -8.2 2021-05-18T04:55:52.112Z,1621313752.112 [DAT](INFO): #Rx 7: Read direction message, but no range. 2021-05-18T04:55:52.113Z,1621313752.113 [DAT](INFO): direction in vehicle frame: [ 0.271158 forward, 0.951909 starboard, -0.142629 keelward ] 2021-05-18T04:55:52.129Z,1621313752.129 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:55:52.527Z,1621313752.527 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:55:52.925Z,1621313752.925 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:55:53.329Z,1621313753.329 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:55:53.733Z,1621313753.733 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:55:54.144Z,1621313754.144 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:55:54.541Z,1621313754.541 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:55:54.941Z,1621313754.941 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:55:55.349Z,1621313755.349 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:55:55.757Z,1621313755.757 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:55:56.170Z,1621313756.170 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:55:56.565Z,1621313756.565 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:55:56.965Z,1621313756.965 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:55:56.966Z,1621313756.966 [lab_range_test:A.](INFO): update period (5.000000 s) has elapsed, querying... 2021-05-18T04:55:56.966Z,1621313756.966 [lab_range_test:A.](INFO): *** querying DAT *** 2021-05-18T04:55:57.364Z,1621313757.364 [DAT](INFO): ****** received valid address query ****** 2021-05-18T04:55:57.364Z,1621313757.364 [DAT](INFO): ****** received valid ping request ****** 2021-05-18T04:55:57.365Z,1621313757.365 [DAT](INFO): Querying Benthos address 50 with 5 pings in terminal homing one-way mode. 2021-05-18T04:55:57.367Z,1621313757.367 [DAT](INFO): ****** ping requested ****** 2021-05-18T04:55:57.381Z,1621313757.381 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:55:57.762Z,1621313757.762 [DAT](INFO): DAT read: user:17> 2021-05-18T04:55:57.763Z,1621313757.763 [DAT](INFO): DAT read: Tx time:04:55:32.1543 2021-05-18T04:55:57.764Z,1621313757.764 [DAT](INFO): Ping request sent. 2021-05-18T04:55:57.764Z,1621313757.764 [DAT](INFO): transmitted an acoustic signal 2021-05-18T04:55:57.764Z,1621313757.764 [DAT](INFO): publishing transmit ping time 2021-05-18T04:55:57.765Z,1621313757.765 [DAT](INFO): checking for new query: numPingsReceived=0 elapsed TxPingTime=0.000968 2021-05-18T04:55:57.826Z,1621313757.826 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:55:58.166Z,1621313758.166 [DAT](INFO): checking for new query: numPingsReceived=0 elapsed TxPingTime=0.402603 2021-05-18T04:55:58.181Z,1621313758.181 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:55:58.574Z,1621313758.574 [DAT](INFO): checking for new query: numPingsReceived=0 elapsed TxPingTime=0.810236 2021-05-18T04:55:58.586Z,1621313758.586 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:55:58.986Z,1621313758.986 [DAT](INFO): checking for new query: numPingsReceived=0 elapsed TxPingTime=1.222120 2021-05-18T04:55:58.998Z,1621313758.998 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:55:59.378Z,1621313759.378 [DAT](INFO): checking for new query: numPingsReceived=0 elapsed TxPingTime=1.614432 2021-05-18T04:55:59.409Z,1621313759.409 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:55:59.782Z,1621313759.782 [DAT](INFO): checking for new query: numPingsReceived=0 elapsed TxPingTime=2.018109 2021-05-18T04:55:59.796Z,1621313759.796 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:56:00.191Z,1621313760.191 [DAT](INFO): DAT read: Rx Time:04:55:34.2840 2021-05-18T04:56:00.191Z,1621313760.191 [DAT](INFO): received an acoustic signal 2021-05-18T04:56:00.193Z,1621313760.193 [DAT](INFO): DAT read: Bearing 69.6, -8.2 (Local) 2021-05-18T04:56:00.193Z,1621313760.193 [DAT](INFO): Local bearing/azimuth received: Bearing 69.6, -8.2 (Local) 2021-05-18T04:56:00.196Z,1621313760.196 [DAT](INFO): DAT read: Range 7 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0 2021-05-18T04:56:00.197Z,1621313760.197 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2021-05-18T04:56:00.197Z,1621313760.197 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone 2021-05-18T04:56:00.198Z,1621313760.198 [DAT](INFO): checking for new query: numPingsReceived=1 elapsed TxPingTime=2.433941 2021-05-18T04:56:00.215Z,1621313760.215 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T04:56:00.216Z,1621313760.216 [lab_range_test:A.](INFO): direction in vehicle frame: [ 0.271158 forward, 0.951909 starboard, -0.142629 keelward ] 2021-05-18T04:56:00.217Z,1621313760.217 [lab_range_test:A.](DEBUG): processing response from DAT 2021-05-18T04:56:00.244Z,1621313760.244 [lab_range_test:A.](INFO): rotationFromVehicleToNavigationFrame_ = [ 0.999295,-0.037440,-0.002671;0.037495,0.998987,0.024890;0.001737,-0.024973,0.999687 ] 2021-05-18T04:56:00.244Z,1621313760.244 [lab_range_test:A.](INFO): rangeToContact_ = 0.300000 m 2021-05-18T04:56:00.245Z,1621313760.245 [lab_range_test:A.](INFO): direction in world frame: [ 0.306411 north, 0.944354 east, -0.119615 down ] 2021-05-18T04:56:00.246Z,1621313760.246 [lab_range_test:A.](INFO): relPosInFSK: [ 0.081348 forward, 0.285573 starboard, -0.042789 keelward ] 2021-05-18T04:56:00.246Z,1621313760.246 [lab_range_test:A.](INFO): relPosInNED: [ 0.091923 north, 0.283306 east, -0.035885 down ] 2021-05-18T04:56:00.247Z,1621313760.247 [lab_range_test:A.](DEBUG): Combining 5 samples. 2021-05-18T04:56:00.251Z,1621313760.251 [lab_range_test:A.](DEBUG): Could not read vehicle position; cannot calculate contact position. 2021-05-18T04:56:00.610Z,1621313760.610 [DAT](INFO): DAT read: 04:55:34.2840 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 208, 0.41,-2.471,-2.742,-2.502,-2.524, PHS= 0.049,-0.174, 0.008, RAW= 139.8, 11.4, CAL= 140.4, 8.2, ROT= 69.6, -8.2 2021-05-18T04:56:00.616Z,1621313760.616 [DAT](INFO): got valid direction response: 04:55:34.2840 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 208, 0.41,-2.471,-2.742,-2.502,-2.524, PHS= 0.049,-0.174, 0.008, RAW= 139.8, 11.4, CAL= 140.4, 8.2, ROT= 69.6, -8.2 2021-05-18T04:56:00.617Z,1621313760.617 [DAT](INFO): DAT read: Rx Time:04:55:34.7840 2021-05-18T04:56:00.617Z,1621313760.617 [DAT](INFO): received an acoustic signal 2021-05-18T04:56:00.618Z,1621313760.618 [DAT](INFO): DAT read: Bearing 67.7, -9.9 (Local) 2021-05-18T04:56:00.624Z,1621313760.624 [DAT](INFO): Local bearing/azimuth received: Bearing 67.7, -9.9 (Local) 2021-05-18T04:56:00.631Z,1621313760.631 [DAT](INFO): DAT read: Range 7 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0 2021-05-18T04:56:00.632Z,1621313760.632 [DAT](INFO): #Rx 2: Read range and direction messages. 2021-05-18T04:56:00.633Z,1621313760.633 [DAT](INFO): direction in vehicle frame: [ 0.345008 forward, 0.927699 starboard, -0.142629 keelward ] 2021-05-18T04:56:00.633Z,1621313760.633 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone 2021-05-18T04:56:00.634Z,1621313760.634 [DAT](INFO): publishing direction and range info 2021-05-18T04:56:00.641Z,1621313760.641 [DAT](INFO): checking for new query: numPingsReceived=2 elapsed TxPingTime=2.877359 2021-05-18T04:56:00.698Z,1621313760.698 [lab_range_test](INFO): Timed out from 2021-05-18T04:54:00.6Z 2021-05-18T04:56:00.698Z,1621313760.698 [MissionManager](INFO): lab_range_test is completed. 2021-05-18T04:56:00.698Z,1621313760.698 [MissionManager](INFO): Uninitializing Mission lab_range_test 2021-05-18T04:56:00.698Z,1621313760.698 [lab_range_test] Stopped 2021-05-18T04:56:00.699Z,1621313760.699 [lab_range_test](DEBUG): Aggregate::uninitialize lab_range_test 2021-05-18T04:56:00.711Z,1621313760.711 [lab_range_test:A.] Stopped 2021-05-18T04:56:00.711Z,1621313760.711 [lab_range_test:A.](DEBUG): Uninitializing Tracking. 2021-05-18T04:56:00.711Z,1621313760.711 [lab_range_test:B.Wait] Stopped 2021-05-18T04:56:00.711Z,1621313760.711 [lab_range_test:B.Wait](DEBUG): Uninitialize Wait Component. 2021-05-18T04:56:01.004Z,1621313761.004 [DAT](INFO): DAT read: 04:55:34.7840 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 497,-0.33, 2.266, 1.951, 2.236, 2.214, PHS= 0.048,-0.220, 0.007, RAW= 141.7, 13.1, CAL= 142.3, 9.9, ROT= 67.7, -9.9 2021-05-18T04:56:01.005Z,1621313761.005 [DAT](INFO): got valid direction response: 04:55:34.7840 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 497,-0.33, 2.266, 1.951, 2.236, 2.214, PHS= 0.048,-0.220, 0.007, RAW= 141.7, 13.1, CAL= 142.3, 9.9, ROT= 67.7, -9.9 2021-05-18T04:56:01.006Z,1621313761.006 [DAT](INFO): DAT read: Rx Time:04:55:35.2840 2021-05-18T04:56:01.007Z,1621313761.007 [DAT](INFO): received an acoustic signal 2021-05-18T04:56:01.020Z,1621313761.020 [DAT](INFO): DAT read: Bearing 67.9, -9.6 (Local) 2021-05-18T04:56:01.020Z,1621313761.020 [DAT](INFO): Local bearing/azimuth received: Bearing 67.9, -9.6 (Local) 2021-05-18T04:56:01.020Z,1621313761.020 [DAT](INFO): #Rx 3: Read direction message, but no range. 2021-05-18T04:56:01.025Z,1621313761.025 [DAT](INFO): direction in vehicle frame: [ 0.373806 forward, 0.911433 starboard, -0.171929 keelward ] 2021-05-18T04:56:01.026Z,1621313761.026 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone 2021-05-18T04:56:01.030Z,1621313761.030 [DAT](INFO): checking for new query: numPingsReceived=3 elapsed TxPingTime=3.265994 2021-05-18T04:56:01.093Z,1621313761.093 [MissionManager](IMPORTANT): Started mission Default 2021-05-18T04:56:01.093Z,1621313761.093 [Default] Running Loop=1 2021-05-18T04:56:01.093Z,1621313761.093 [Default](DEBUG): Aggregate::initialize Default 2021-05-18T04:56:01.093Z,1621313761.093 [Default:B.GoToSurface] Running Loop=1 2021-05-18T04:56:01.093Z,1621313761.093 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent. 2021-05-18T04:56:01.094Z,1621313761.094 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s. 2021-05-18T04:56:01.094Z,1621313761.094 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees. 2021-05-18T04:56:01.094Z,1621313761.094 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s. 2021-05-18T04:56:01.095Z,1621313761.095 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds. 2021-05-18T04:56:01.095Z,1621313761.095 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds. 2021-05-18T04:56:01.096Z,1621313761.096 [Default:A.Wait] Running Loop=1 2021-05-18T04:56:01.096Z,1621313761.096 [Default:A.Wait](DEBUG): Initialize Wait Component. 2021-05-18T04:56:01.399Z,1621313761.399 [DAT](INFO): DAT read: Range 7 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0 2021-05-18T04:56:01.404Z,1621313761.404 [DAT](INFO): DAT read: 04:55:35.2840 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 496,-0.17, 0.920, 0.590, 0.886, 0.864, PHS= 0.052,-0.229, 0.008, RAW= 141.5, 12.9, CAL= 142.1, 9.6, ROT= 67.9, -9.6 2021-05-18T04:56:01.405Z,1621313761.405 [DAT](INFO): got valid direction response: 04:55:35.2840 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 496,-0.17, 0.920, 0.590, 0.886, 0.864, PHS= 0.052,-0.229, 0.008, RAW= 141.5, 12.9, CAL= 142.1, 9.6, ROT= 67.9, -9.6 2021-05-18T04:56:01.406Z,1621313761.406 [DAT](INFO): #Rx 4: Read range and direction messages. 2021-05-18T04:56:01.407Z,1621313761.407 [DAT](INFO): direction in vehicle frame: [ 0.370956 forward, 0.913554 starboard, -0.166769 keelward ] 2021-05-18T04:56:01.407Z,1621313761.407 [DAT](INFO): publishing direction and range info 2021-05-18T04:56:01.410Z,1621313761.410 [DAT](INFO): checking for new query: numPingsReceived=4 elapsed TxPingTime=3.646544 2021-05-18T04:56:01.802Z,1621313761.802 [DAT](INFO): DAT read: Rx Time:04:55:35.7841 2021-05-18T04:56:01.803Z,1621313761.803 [DAT](INFO): received an acoustic signal 2021-05-18T04:56:01.804Z,1621313761.804 [DAT](INFO): DAT read: Bearing 67.7, -9.5 (Local) 2021-05-18T04:56:01.804Z,1621313761.804 [DAT](INFO): Local bearing/azimuth received: Bearing 67.7, -9.5 (Local) 2021-05-18T04:56:01.806Z,1621313761.806 [DAT](INFO): DAT read: Range 7 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0 2021-05-18T04:56:01.815Z,1621313761.815 [DAT](INFO): DAT read: 04:55:35.7841 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 497,-0.04, 2.554, 2.241, 2.524, 2.501, PHS= 0.049,-0.215, 0.008, RAW= 141.8, 12.8, CAL= 142.3, 9.5, ROT= 67.7, -9.5 2021-05-18T04:56:01.816Z,1621313761.816 [DAT](INFO): got valid direction response: 04:55:35.7841 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 497,-0.04, 2.554, 2.241, 2.524, 2.501, PHS= 0.049,-0.215, 0.008, RAW= 141.8, 12.8, CAL= 142.3, 9.5, ROT= 67.7, -9.5 2021-05-18T04:56:01.817Z,1621313761.817 [DAT](INFO): #Rx 5: Read range and direction messages. 2021-05-18T04:56:01.818Z,1621313761.818 [DAT](INFO): direction in vehicle frame: [ 0.374252 forward, 0.912521 starboard, -0.165048 keelward ] 2021-05-18T04:56:01.818Z,1621313761.818 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone 2021-05-18T04:56:01.818Z,1621313761.818 [DAT](INFO): publishing direction and range info 2021-05-18T04:56:02.211Z,1621313762.211 [DAT](INFO): DAT read: Rx Time:04:55:36.2840 2021-05-18T04:56:02.212Z,1621313762.212 [DAT](INFO): received an acoustic signal 2021-05-18T04:56:02.213Z,1621313762.213 [DAT](INFO): DAT read: Bearing 69.9, -8.3 (Local) 2021-05-18T04:56:02.214Z,1621313762.214 [DAT](INFO): Local bearing/azimuth received: Bearing 69.9, -8.3 (Local) 2021-05-18T04:56:02.216Z,1621313762.216 [DAT](INFO): DAT read: Range 7 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0 2021-05-18T04:56:02.217Z,1621313762.217 [DAT](ERROR): #Rx 6: Read range message, but no direction. 2021-05-18T04:56:02.217Z,1621313762.217 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone 2021-05-18T04:56:02.613Z,1621313762.613 [DAT](INFO): DAT read: 04:55:36.2840 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 496, 0.09, 2.635, 2.359, 2.602, 2.581, PHS= 0.050,-0.178, 0.006, RAW= 139.6, 11.5, CAL= 140.1, 8.3, ROT= 69.9, -8.3 2021-05-18T04:56:02.615Z,1621313762.615 [DAT](INFO): got valid direction response: 04:55:36.2840 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 496, 0.09, 2.635, 2.359, 2.602, 2.581, PHS= 0.050,-0.178, 0.006, RAW= 139.6, 11.5, CAL= 140.1, 8.3, ROT= 69.9, -8.3 2021-05-18T04:56:02.642Z,1621313762.642 [DAT](INFO): #Rx 7: Read direction message, but no range. 2021-05-18T04:56:02.644Z,1621313762.644 [DAT](INFO): direction in vehicle frame: [ 0.340060 forward, 0.929258 starboard, -0.144356 keelward ] 2021-05-18T04:56:07.864Z,1621313767.864 [NAL9602](INFO): Powering up NAL9602 2021-05-18T04:56:14.350Z,1621313774.350 [Default:A.Wait](INFO): Done Waiting. 2021-05-18T04:56:14.350Z,1621313774.350 [Default:A.Wait] Stopped 2021-05-18T04:56:14.350Z,1621313774.350 [Default:A.Wait](DEBUG): Uninitialize Wait Component. 2021-05-18T04:56:14.742Z,1621313774.742 [Default:CheckIn] Running Loop=1 2021-05-18T04:56:14.742Z,1621313774.742 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn 2021-05-18T04:56:14.742Z,1621313774.742 [Default:CheckIn:Read_GPS] Running Loop=1 2021-05-18T04:56:18.774Z,1621313778.774 [NAL9602](INFO): NAL9602 initialized 2021-05-18T04:56:59.208Z,1621313819.208 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 4 2021-05-18T04:56:59.209Z,1621313819.209 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault 2021-05-18T04:56:59.239Z,1621313819.239 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources 2021-05-18T04:56:59.617Z,1621313819.617 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources 2021-05-18T04:56:59.617Z,1621313819.617 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 4 2021-05-18T04:58:03.681Z,1621313883.681 [CommandLine](IMPORTANT): got command show stack 2021-05-18T04:58:03.681Z,1621313883.681 [CommandLine](IMPORTANT): Behavior Stack: 2021-05-18T04:58:03.681Z,1621313883.681 [Default](IMPORTANT): Priority 0: Default:B.GoToSurface 2021-05-18T04:58:03.681Z,1621313883.681 [Default:CheckIn](IMPORTANT): Priority 1: Default:CheckIn:Read_GPS