2021-05-18T16:44:35.431Z,1621356275.431 [CommandLine](IMPORTANT): got command run ./Missions/lab_range_test.xml 2021-05-18T16:44:35.431Z,1621356275.431 [MissionManager](INFO): Loading Mission: ./Missions/lab_range_test.xml 2021-05-18T16:44:35.460Z,1621356275.460 [MissionManager](INFO): DefineArg lab_range_test.MissionTimeout = 2.000000 min 2021-05-18T16:44:35.462Z,1621356275.462 [MissionManager](INFO): DefineArg lab_range_test.ContactLabel = 50.000000 count 2021-05-18T16:44:35.468Z,1621356275.468 [MissionManager](INFO): DefineArg lab_range_test.TrackingUpdatePeriod = 5.000000 s 2021-05-18T16:44:35.470Z,1621356275.470 [MissionManager](INFO): DefineArg lab_range_test.NumberOfPings = 10.000000 count 2021-05-18T16:44:35.497Z,1621356275.497 [MissionManager](INFO): DefineArg lab_range_test.ContactDepth = nan m 2021-05-18T16:44:35.549Z,1621356275.549 [lab_range_test:B.Wait](DEBUG): Construct Wait. 2021-05-18T16:44:35.570Z,1621356275.570 [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) 10 The acoustic address of the asset to be tracked NaN 2021-05-18T16:44:35.604Z,1621356275.604 [CommandLine](IMPORTANT): Running ./Missions/lab_range_test.xml 2021-05-18T16:44:35.629Z,1621356275.629 [Default] Stopped 2021-05-18T16:44:35.629Z,1621356275.629 [Default](DEBUG): Aggregate::uninitialize Default 2021-05-18T16:44:35.630Z,1621356275.630 [Default:B.GoToSurface] Stopped 2021-05-18T16:44:35.630Z,1621356275.630 [Default:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent. 2021-05-18T16:44:35.630Z,1621356275.630 [Default:CheckIn] Stopped 2021-05-18T16:44:35.630Z,1621356275.630 [Default:CheckIn](DEBUG): Aggregate::uninitialize Default:CheckIn 2021-05-18T16:44:35.630Z,1621356275.630 [Default:CheckIn:Read_GPS] Stopped 2021-05-18T16:44:35.630Z,1621356275.630 [MissionManager](IMPORTANT): Started mission lab_range_test 2021-05-18T16:44:35.630Z,1621356275.630 [lab_range_test] Running Loop=1 2021-05-18T16:44:35.630Z,1621356275.630 [lab_range_test](DEBUG): Aggregate::initialize lab_range_test 2021-05-18T16:44:35.630Z,1621356275.630 [lab_range_test:A.] Running Loop=1 2021-05-18T16:44:35.631Z,1621356275.631 [lab_range_test:A.](INFO): Initializing Tracking. 2021-05-18T16:44:35.639Z,1621356275.639 [lab_range_test:B.Wait] Running Loop=1 2021-05-18T16:44:35.639Z,1621356275.639 [lab_range_test:B.Wait](DEBUG): Initialize Wait Component. 2021-05-18T16:44:35.640Z,1621356275.640 [lab_range_test:A.] Running Loop=1 2021-05-18T16:44:35.640Z,1621356275.640 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:44:35.641Z,1621356275.641 [lab_range_test:A.](INFO): direction in vehicle frame: [ 0.378841 forward, 0.919138 starboard, -0.107999 keelward ] 2021-05-18T16:44:35.641Z,1621356275.641 [lab_range_test:A.](DEBUG): processing response from DAT 2021-05-18T16:44:35.676Z,1621356275.676 [lab_range_test:A.](INFO): rotationFromVehicleToNavigationFrame_ = [ 0.998943,-0.045881,-0.002629;0.045932,0.998635,0.024856;0.001485,-0.024950,0.999688 ] 2021-05-18T16:44:35.676Z,1621356275.676 [lab_range_test:A.](INFO): rangeToContact_ = 0.200000 m 2021-05-18T16:44:35.677Z,1621356275.677 [lab_range_test:A.](INFO): direction in world frame: [ 0.420499 north, 0.903197 east, -0.086116 down ] 2021-05-18T16:44:35.677Z,1621356275.677 [lab_range_test:A.](INFO): relPosInFSK: [ 0.075768 forward, 0.183828 starboard, -0.021600 keelward ] 2021-05-18T16:44:35.678Z,1621356275.678 [lab_range_test:A.](INFO): relPosInNED: [ 0.084100 north, 0.180639 east, -0.017223 down ] 2021-05-18T16:44:35.679Z,1621356275.679 [lab_range_test:A.](DEBUG): Combining 10 samples. 2021-05-18T16:44:35.687Z,1621356275.687 [lab_range_test:A.](DEBUG): Could not read vehicle position; cannot calculate contact position. 2021-05-18T16:44:36.014Z,1621356276.014 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:44:36.425Z,1621356276.425 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:44:36.812Z,1621356276.812 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:44:37.229Z,1621356277.229 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:44:37.670Z,1621356277.670 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:44:38.053Z,1621356278.053 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:44:38.434Z,1621356278.434 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:44:38.826Z,1621356278.826 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:44:39.244Z,1621356279.244 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:44:39.661Z,1621356279.661 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:44:40.065Z,1621356280.065 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:44:40.446Z,1621356280.446 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:44:40.857Z,1621356280.857 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:44:40.858Z,1621356280.858 [lab_range_test:A.](INFO): update period (5.000000 s) has elapsed, querying... 2021-05-18T16:44:40.858Z,1621356280.858 [lab_range_test:A.](INFO): *** querying DAT *** 2021-05-18T16:44:41.253Z,1621356281.253 [DAT](INFO): ****** received valid address query ****** 2021-05-18T16:44:41.253Z,1621356281.253 [DAT](INFO): ****** received valid ping request ****** 2021-05-18T16:44:41.253Z,1621356281.253 [DAT](INFO): entering command mode 2021-05-18T16:44:41.297Z,1621356281.297 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:44:41.669Z,1621356281.669 [DAT](INFO): DAT read: UART Wakeup 2021-05-18T16:44:41.671Z,1621356281.671 [DAT](INFO): DAT read: CONNECT 00800 bits/sec 1 of 4, Rate 1/2 CC 12.50ms MGP 2021-05-18T16:44:41.671Z,1621356281.671 [DAT](INFO): commRate: 800 2021-05-18T16:44:41.671Z,1621356281.671 [DAT](INFO): DAT read: 2021-05-18T16:44:41.672Z,1621356281.672 [DAT](INFO): ****** received valid address query ****** 2021-05-18T16:44:41.672Z,1621356281.672 [DAT](INFO): ****** received valid ping request ****** 2021-05-18T16:44:41.722Z,1621356281.722 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:44:42.069Z,1621356282.069 [DAT](INFO): ****** received valid address query ****** 2021-05-18T16:44:42.069Z,1621356282.069 [DAT](INFO): ****** received valid ping request ****** 2021-05-18T16:44:42.081Z,1621356282.081 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:44:42.454Z,1621356282.454 [DAT](INFO): ****** received valid address query ****** 2021-05-18T16:44:42.454Z,1621356282.454 [DAT](INFO): ****** received valid ping request ****** 2021-05-18T16:44:42.462Z,1621356282.462 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:44:42.858Z,1621356282.858 [DAT](INFO): ****** received valid address query ****** 2021-05-18T16:44:42.859Z,1621356282.859 [DAT](INFO): ****** received valid ping request ****** 2021-05-18T16:44:42.873Z,1621356282.873 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:44:43.262Z,1621356283.262 [DAT](INFO): ****** received valid address query ****** 2021-05-18T16:44:43.262Z,1621356283.262 [DAT](INFO): ****** received valid ping request ****** 2021-05-18T16:44:43.270Z,1621356283.270 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:44:43.677Z,1621356283.677 [DAT](INFO): ****** received valid address query ****** 2021-05-18T16:44:43.678Z,1621356283.678 [DAT](INFO): ****** received valid ping request ****** 2021-05-18T16:44:43.678Z,1621356283.678 [DAT](DEBUG): checking for command mode acknowledgment 2021-05-18T16:44:43.689Z,1621356283.689 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:44:44.074Z,1621356284.074 [DAT](INFO): ****** received valid address query ****** 2021-05-18T16:44:44.074Z,1621356284.074 [DAT](INFO): ****** received valid ping request ****** 2021-05-18T16:44:44.074Z,1621356284.074 [DAT](DEBUG): checking for command mode acknowledgment 2021-05-18T16:44:44.118Z,1621356284.118 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:44:44.485Z,1621356284.485 [DAT](INFO): ****** received valid address query ****** 2021-05-18T16:44:44.485Z,1621356284.485 [DAT](INFO): ****** received valid ping request ****** 2021-05-18T16:44:44.485Z,1621356284.485 [DAT](DEBUG): checking for command mode acknowledgment 2021-05-18T16:44:44.497Z,1621356284.497 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:44:44.897Z,1621356284.897 [DAT](INFO): ****** received valid address query ****** 2021-05-18T16:44:44.897Z,1621356284.897 [DAT](INFO): ****** received valid ping request ****** 2021-05-18T16:44:44.897Z,1621356284.897 [DAT](DEBUG): checking for command mode acknowledgment 2021-05-18T16:44:44.904Z,1621356284.904 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:44:45.300Z,1621356285.300 [DAT](INFO): ****** received valid address query ****** 2021-05-18T16:44:45.301Z,1621356285.301 [DAT](INFO): ****** received valid ping request ****** 2021-05-18T16:44:45.301Z,1621356285.301 [DAT](DEBUG): checking for command mode acknowledgment 2021-05-18T16:44:45.313Z,1621356285.313 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:44:45.687Z,1621356285.687 [DAT](INFO): ****** received valid address query ****** 2021-05-18T16:44:45.687Z,1621356285.687 [DAT](INFO): ****** received valid ping request ****** 2021-05-18T16:44:45.687Z,1621356285.687 [DAT](DEBUG): checking for command mode acknowledgment 2021-05-18T16:44:45.733Z,1621356285.733 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:44:46.090Z,1621356286.090 [DAT](INFO): ****** received valid address query ****** 2021-05-18T16:44:46.090Z,1621356286.090 [DAT](INFO): ****** received valid ping request ****** 2021-05-18T16:44:46.090Z,1621356286.090 [DAT](DEBUG): checking for command mode acknowledgment 2021-05-18T16:44:46.101Z,1621356286.101 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:44:46.102Z,1621356286.102 [lab_range_test:A.](INFO): update period (5.000000 s) has elapsed, querying... 2021-05-18T16:44:46.102Z,1621356286.102 [lab_range_test:A.](INFO): *** querying DAT *** 2021-05-18T16:44:46.495Z,1621356286.495 [DAT](INFO): ****** received valid address query ****** 2021-05-18T16:44:46.495Z,1621356286.495 [DAT](INFO): ****** received valid ping request ****** 2021-05-18T16:44:46.495Z,1621356286.495 [DAT](DEBUG): checking for command mode acknowledgment 2021-05-18T16:44:46.509Z,1621356286.509 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:44:46.899Z,1621356286.899 [DAT](INFO): ****** received valid address query ****** 2021-05-18T16:44:46.899Z,1621356286.899 [DAT](INFO): ****** received valid ping request ****** 2021-05-18T16:44:46.907Z,1621356286.907 [DAT](DEBUG): checking for command mode acknowledgment 2021-05-18T16:44:46.975Z,1621356286.975 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:44:47.341Z,1621356287.341 [DAT](INFO): ****** received valid address query ****** 2021-05-18T16:44:47.341Z,1621356287.341 [DAT](INFO): ****** received valid ping request ****** 2021-05-18T16:44:47.341Z,1621356287.341 [DAT](DEBUG): checking for command mode acknowledgment 2021-05-18T16:44:47.348Z,1621356287.348 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:44:47.725Z,1621356287.725 [DAT](INFO): ****** received valid address query ****** 2021-05-18T16:44:47.725Z,1621356287.725 [DAT](INFO): ****** received valid ping request ****** 2021-05-18T16:44:47.725Z,1621356287.725 [DAT](DEBUG): checking for command mode acknowledgment 2021-05-18T16:44:47.769Z,1621356287.769 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:44:48.125Z,1621356288.125 [DAT](INFO): ****** received valid address query ****** 2021-05-18T16:44:48.125Z,1621356288.125 [DAT](INFO): ****** received valid ping request ****** 2021-05-18T16:44:48.125Z,1621356288.125 [DAT](DEBUG): checking for command mode acknowledgment 2021-05-18T16:44:48.137Z,1621356288.137 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:44:48.518Z,1621356288.518 [DAT](INFO): ****** received valid address query ****** 2021-05-18T16:44:48.518Z,1621356288.518 [DAT](INFO): ****** received valid ping request ****** 2021-05-18T16:44:48.518Z,1621356288.518 [DAT](DEBUG): checking for command mode acknowledgment 2021-05-18T16:44:48.542Z,1621356288.542 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:44:48.922Z,1621356288.922 [DAT](INFO): ****** received valid address query ****** 2021-05-18T16:44:48.922Z,1621356288.922 [DAT](INFO): ****** received valid ping request ****** 2021-05-18T16:44:48.923Z,1621356288.923 [DAT](DEBUG): checking for command mode acknowledgment 2021-05-18T16:44:48.962Z,1621356288.962 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:44:49.322Z,1621356289.322 [DAT](INFO): ****** received valid address query ****** 2021-05-18T16:44:49.322Z,1621356289.322 [DAT](INFO): ****** received valid ping request ****** 2021-05-18T16:44:49.322Z,1621356289.322 [DAT](DEBUG): checking for command mode acknowledgment 2021-05-18T16:44:49.337Z,1621356289.337 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:44:49.727Z,1621356289.727 [DAT](INFO): ****** received valid address query ****** 2021-05-18T16:44:49.727Z,1621356289.727 [DAT](INFO): ****** received valid ping request ****** 2021-05-18T16:44:49.727Z,1621356289.727 [DAT](DEBUG): checking for command mode acknowledgment 2021-05-18T16:44:49.741Z,1621356289.741 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:44:50.134Z,1621356290.134 [DAT](INFO): ****** received valid address query ****** 2021-05-18T16:44:50.134Z,1621356290.134 [DAT](INFO): ****** received valid ping request ****** 2021-05-18T16:44:50.134Z,1621356290.134 [DAT](DEBUG): checking for command mode acknowledgment 2021-05-18T16:44:50.202Z,1621356290.202 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:44:50.549Z,1621356290.549 [DAT](INFO): ****** received valid address query ****** 2021-05-18T16:44:50.549Z,1621356290.549 [DAT](INFO): ****** received valid ping request ****** 2021-05-18T16:44:50.549Z,1621356290.549 [DAT](DEBUG): checking for command mode acknowledgment 2021-05-18T16:44:50.592Z,1621356290.592 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:44:50.957Z,1621356290.957 [DAT](INFO): ****** received valid address query ****** 2021-05-18T16:44:50.957Z,1621356290.957 [DAT](INFO): ****** received valid ping request ****** 2021-05-18T16:44:50.957Z,1621356290.957 [DAT](DEBUG): checking for command mode acknowledgment 2021-05-18T16:44:50.965Z,1621356290.965 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:44:51.356Z,1621356291.356 [DAT](INFO): ****** received valid address query ****** 2021-05-18T16:44:51.357Z,1621356291.357 [DAT](INFO): ****** received valid ping request ****** 2021-05-18T16:44:51.357Z,1621356291.357 [DAT](DEBUG): checking for command mode acknowledgment 2021-05-18T16:44:51.370Z,1621356291.370 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:44:51.370Z,1621356291.370 [lab_range_test:A.](INFO): update period (5.000000 s) has elapsed, querying... 2021-05-18T16:44:51.370Z,1621356291.370 [lab_range_test:A.](INFO): *** querying DAT *** 2021-05-18T16:44:51.751Z,1621356291.751 [DAT](INFO): ****** received valid address query ****** 2021-05-18T16:44:51.751Z,1621356291.751 [DAT](INFO): ****** received valid ping request ****** 2021-05-18T16:44:51.751Z,1621356291.751 [DAT](DEBUG): checking for command mode acknowledgment 2021-05-18T16:44:51.796Z,1621356291.796 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:44:52.150Z,1621356292.150 [DAT](INFO): ****** received valid address query ****** 2021-05-18T16:44:52.150Z,1621356292.150 [DAT](INFO): ****** received valid ping request ****** 2021-05-18T16:44:52.150Z,1621356292.150 [DAT](DEBUG): checking for command mode acknowledgment 2021-05-18T16:44:52.158Z,1621356292.158 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:44:52.559Z,1621356292.559 [DAT](INFO): ****** received valid address query ****** 2021-05-18T16:44:52.559Z,1621356292.559 [DAT](INFO): ****** received valid ping request ****** 2021-05-18T16:44:52.559Z,1621356292.559 [DAT](DEBUG): checking for command mode acknowledgment 2021-05-18T16:44:52.573Z,1621356292.573 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:44:52.968Z,1621356292.968 [DAT](INFO): ****** received valid address query ****** 2021-05-18T16:44:52.968Z,1621356292.968 [DAT](INFO): ****** received valid ping request ****** 2021-05-18T16:44:52.969Z,1621356292.969 [DAT](DEBUG): checking for command mode acknowledgment 2021-05-18T16:44:52.976Z,1621356292.976 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:44:53.381Z,1621356293.381 [DAT](INFO): ****** received valid address query ****** 2021-05-18T16:44:53.381Z,1621356293.381 [DAT](INFO): ****** received valid ping request ****** 2021-05-18T16:44:53.381Z,1621356293.381 [DAT](DEBUG): checking for command mode acknowledgment 2021-05-18T16:44:53.421Z,1621356293.421 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:44:53.785Z,1621356293.785 [DAT](INFO): ****** received valid address query ****** 2021-05-18T16:44:53.785Z,1621356293.785 [DAT](INFO): ****** received valid ping request ****** 2021-05-18T16:44:53.785Z,1621356293.785 [DAT](DEBUG): checking for command mode acknowledgment 2021-05-18T16:44:53.826Z,1621356293.826 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:44:54.185Z,1621356294.185 [DAT](INFO): ****** received valid address query ****** 2021-05-18T16:44:54.185Z,1621356294.185 [DAT](INFO): ****** received valid ping request ****** 2021-05-18T16:44:54.185Z,1621356294.185 [DAT](DEBUG): checking for command mode acknowledgment 2021-05-18T16:44:54.197Z,1621356294.197 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:44:54.578Z,1621356294.578 [DAT](INFO): ****** received valid address query ****** 2021-05-18T16:44:54.578Z,1621356294.578 [DAT](INFO): ****** received valid ping request ****** 2021-05-18T16:44:54.579Z,1621356294.579 [DAT](DEBUG): checking for command mode acknowledgment 2021-05-18T16:44:54.606Z,1621356294.606 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:44:54.982Z,1621356294.982 [DAT](INFO): ****** received valid address query ****** 2021-05-18T16:44:54.982Z,1621356294.982 [DAT](INFO): ****** received valid ping request ****** 2021-05-18T16:44:54.982Z,1621356294.982 [DAT](DEBUG): checking for command mode acknowledgment 2021-05-18T16:44:55.022Z,1621356295.022 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:44:55.386Z,1621356295.386 [DAT](INFO): ****** received valid address query ****** 2021-05-18T16:44:55.387Z,1621356295.387 [DAT](INFO): ****** received valid ping request ****** 2021-05-18T16:44:55.387Z,1621356295.387 [DAT](DEBUG): checking for command mode acknowledgment 2021-05-18T16:44:55.394Z,1621356295.394 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:44:55.787Z,1621356295.787 [DAT](INFO): ****** received valid address query ****** 2021-05-18T16:44:55.787Z,1621356295.787 [DAT](INFO): ****** received valid ping request ****** 2021-05-18T16:44:55.787Z,1621356295.787 [DAT](DEBUG): checking for command mode acknowledgment 2021-05-18T16:44:55.798Z,1621356295.798 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:44:56.199Z,1621356296.199 [DAT](INFO): ****** received valid address query ****** 2021-05-18T16:44:56.200Z,1621356296.200 [DAT](INFO): ****** received valid ping request ****** 2021-05-18T16:44:56.200Z,1621356296.200 [DAT](DEBUG): checking for command mode acknowledgment 2021-05-18T16:44:56.207Z,1621356296.207 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:44:56.616Z,1621356296.616 [DAT](INFO): ****** received valid address query ****** 2021-05-18T16:44:56.616Z,1621356296.616 [DAT](INFO): ****** received valid ping request ****** 2021-05-18T16:44:56.616Z,1621356296.616 [DAT](DEBUG): checking for command mode acknowledgment 2021-05-18T16:44:56.617Z,1621356296.617 [DAT](FAULT): failed to enter command mode 2021-05-18T16:44:56.629Z,1621356296.629 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:44:56.630Z,1621356296.630 [lab_range_test:A.](INFO): update period (5.000000 s) has elapsed, querying... 2021-05-18T16:44:56.630Z,1621356296.630 [lab_range_test:A.](INFO): *** querying DAT *** 2021-05-18T16:44:57.021Z,1621356297.021 [DAT](INFO): ****** received valid address query ****** 2021-05-18T16:44:57.021Z,1621356297.021 [DAT](INFO): ****** received valid ping request ****** 2021-05-18T16:44:57.022Z,1621356297.022 [DAT](INFO): entering command mode 2021-05-18T16:44:57.074Z,1621356297.074 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:44:57.416Z,1621356297.416 [DAT](INFO): DAT read: user:13> 2021-05-18T16:44:57.417Z,1621356297.417 [DAT](INFO): DAT read: Command '+++' not found 2021-05-18T16:44:57.418Z,1621356297.418 [DAT](INFO): DAT read: Error 2021-05-18T16:44:57.418Z,1621356297.418 [DAT](INFO): ****** received valid address query ****** 2021-05-18T16:44:57.418Z,1621356297.418 [DAT](INFO): ****** received valid ping request ****** 2021-05-18T16:44:57.419Z,1621356297.419 [DAT](INFO): Querying Benthos address 50 with 10 pings in terminal homing one-way mode. 2021-05-18T16:44:57.420Z,1621356297.420 [DAT](INFO): ****** ping requested ****** 2021-05-18T16:44:57.434Z,1621356297.434 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:44:57.815Z,1621356297.815 [DAT](INFO): DAT read: user:14> 2021-05-18T16:44:57.816Z,1621356297.816 [DAT](INFO): DAT read: Tx time:16:44:31.3452 2021-05-18T16:44:57.816Z,1621356297.816 [DAT](INFO): Ping request sent. 2021-05-18T16:44:57.816Z,1621356297.816 [DAT](INFO): transmitted an acoustic signal 2021-05-18T16:44:57.817Z,1621356297.817 [DAT](INFO): publishing transmit ping time 2021-05-18T16:44:57.817Z,1621356297.817 [DAT](INFO): checking for new query: numPingsReceived=0 elapsed TxPingTime=0.000901 2021-05-18T16:44:57.887Z,1621356297.887 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:44:58.214Z,1621356298.214 [DAT](INFO): checking for new query: numPingsReceived=0 elapsed TxPingTime=0.398024 2021-05-18T16:44:58.222Z,1621356298.222 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:44:58.615Z,1621356298.615 [DAT](INFO): checking for new query: numPingsReceived=0 elapsed TxPingTime=0.798545 2021-05-18T16:44:58.629Z,1621356298.629 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:44:59.023Z,1621356299.023 [DAT](INFO): checking for new query: numPingsReceived=0 elapsed TxPingTime=1.206970 2021-05-18T16:44:59.049Z,1621356299.049 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:44:59.437Z,1621356299.437 [DAT](INFO): checking for new query: numPingsReceived=0 elapsed TxPingTime=1.620654 2021-05-18T16:44:59.461Z,1621356299.461 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:44:59.845Z,1621356299.845 [DAT](INFO): checking for new query: numPingsReceived=0 elapsed TxPingTime=2.028747 2021-05-18T16:44:59.877Z,1621356299.877 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:45:00.245Z,1621356300.245 [DAT](INFO): DAT read: Rx Time:16:44:33.4748 2021-05-18T16:45:00.246Z,1621356300.246 [DAT](INFO): received an acoustic signal 2021-05-18T16:45:00.247Z,1621356300.247 [DAT](INFO): DAT read: Bearing 69.2, -5.0 (Local) 2021-05-18T16:45:00.247Z,1621356300.247 [DAT](INFO): Local bearing/azimuth received: Bearing 69.2, -5.0 (Local) 2021-05-18T16:45:00.249Z,1621356300.249 [DAT](INFO): DAT read: Range 7 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0 2021-05-18T16:45:00.254Z,1621356300.254 [DAT](INFO): DAT read: 16:44:33.4748 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 208,-0.14, 0.823, 0.494, 0.783, 0.743, PHS= 0.076,-0.206, 0.025, RAW= 140.3, 8.2, CAL= 140.8, 5.0, ROT= 69.2, -5.0 2021-05-18T16:45:00.255Z,1621356300.255 [DAT](INFO): got valid direction response: 16:44:33.4748 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 208,-0.14, 0.823, 0.494, 0.783, 0.743, PHS= 0.076,-0.206, 0.025, RAW= 140.3, 8.2, CAL= 140.8, 5.0, ROT= 69.2, -5.0 2021-05-18T16:45:00.256Z,1621356300.256 [DAT](INFO): #Rx 1: Read range and direction messages. 2021-05-18T16:45:00.257Z,1621356300.257 [DAT](INFO): direction in vehicle frame: [ 0.353756 forward, 0.931268 starboard, -0.087156 keelward ] 2021-05-18T16:45:00.257Z,1621356300.257 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone 2021-05-18T16:45:00.257Z,1621356300.257 [DAT](INFO): publishing direction and range info 2021-05-18T16:45:00.261Z,1621356300.261 [DAT](INFO): checking for new query: numPingsReceived=1 elapsed TxPingTime=2.444346 2021-05-18T16:45:00.340Z,1621356300.340 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:45:00.341Z,1621356300.341 [lab_range_test:A.](INFO): direction in vehicle frame: [ 0.353756 forward, 0.931268 starboard, -0.087156 keelward ] 2021-05-18T16:45:00.342Z,1621356300.342 [lab_range_test:A.](DEBUG): processing response from DAT 2021-05-18T16:45:00.352Z,1621356300.352 [lab_range_test:A.](INFO): rotationFromVehicleToNavigationFrame_ = [ 0.998992,-0.044809,-0.002814;0.044866,0.998682,0.024905;0.001694,-0.025006,0.999686 ] 2021-05-18T16:45:00.352Z,1621356300.352 [lab_range_test:A.](INFO): rangeToContact_ = 0.300000 m 2021-05-18T16:45:00.353Z,1621356300.353 [lab_range_test:A.](INFO): direction in world frame: [ 0.395033 north, 0.916369 east, -0.064931 down ] 2021-05-18T16:45:00.354Z,1621356300.354 [lab_range_test:A.](INFO): relPosInFSK: [ 0.106127 forward, 0.279381 starboard, -0.026147 keelward ] 2021-05-18T16:45:00.354Z,1621356300.354 [lab_range_test:A.](INFO): relPosInNED: [ 0.118510 north, 0.274911 east, -0.019479 down ] 2021-05-18T16:45:00.363Z,1621356300.363 [lab_range_test:A.](DEBUG): Combining 10 samples. 2021-05-18T16:45:00.363Z,1621356300.363 [lab_range_test:A.](DEBUG): Could not read vehicle position; cannot calculate contact position. 2021-05-18T16:45:00.634Z,1621356300.634 [DAT](INFO): DAT read: Rx Time:16:44:33.9748 2021-05-18T16:45:00.635Z,1621356300.635 [DAT](INFO): received an acoustic signal 2021-05-18T16:45:00.636Z,1621356300.636 [DAT](INFO): DAT read: Bearing 67.4, -5.3 (Local) 2021-05-18T16:45:00.636Z,1621356300.636 [DAT](INFO): Local bearing/azimuth received: Bearing 67.4, -5.3 (Local) 2021-05-18T16:45:00.638Z,1621356300.638 [DAT](INFO): DAT read: Range 7 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0 2021-05-18T16:45:00.644Z,1621356300.644 [DAT](INFO): DAT read: 16:44:33.9748 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 496,-0.00, 1.064, 0.784, 1.041, 1.002, PHS= 0.058,-0.174, 0.024, RAW= 142.2, 8.6, CAL= 142.6, 5.3, ROT= 67.4, -5.3 2021-05-18T16:45:00.645Z,1621356300.645 [DAT](INFO): got valid direction response: 16:44:33.9748 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 496,-0.00, 1.064, 0.784, 1.041, 1.002, PHS= 0.058,-0.174, 0.024, RAW= 142.2, 8.6, CAL= 142.6, 5.3, ROT= 67.4, -5.3 2021-05-18T16:45:00.645Z,1621356300.645 [DAT](INFO): #Rx 2: Read range and direction messages. 2021-05-18T16:45:00.646Z,1621356300.646 [DAT](INFO): direction in vehicle frame: [ 0.382652 forward, 0.919263 starboard, -0.092371 keelward ] 2021-05-18T16:45:00.647Z,1621356300.647 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone 2021-05-18T16:45:00.647Z,1621356300.647 [DAT](INFO): publishing direction and range info 2021-05-18T16:45:00.650Z,1621356300.650 [DAT](INFO): checking for new query: numPingsReceived=2 elapsed TxPingTime=2.834024 2021-05-18T16:45:00.667Z,1621356300.667 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:45:00.688Z,1621356300.688 [lab_range_test:A.](INFO): direction in vehicle frame: [ 0.382652 forward, 0.919263 starboard, -0.092371 keelward ] 2021-05-18T16:45:00.689Z,1621356300.689 [lab_range_test:A.](DEBUG): processing response from DAT 2021-05-18T16:45:00.691Z,1621356300.691 [lab_range_test:A.](INFO): rotationFromVehicleToNavigationFrame_ = [ 0.998955,-0.045621,-0.002830;0.045677,0.998648,0.024801;0.001695,-0.024904,0.999688 ] 2021-05-18T16:45:00.695Z,1621356300.695 [lab_range_test:A.](INFO): rangeToContact_ = 0.300000 m 2021-05-18T16:45:00.696Z,1621356300.696 [lab_range_test:A.](INFO): direction in world frame: [ 0.424085 north, 0.902864 east, -0.070626 down ] 2021-05-18T16:45:00.697Z,1621356300.697 [lab_range_test:A.](INFO): relPosInFSK: [ 0.114796 forward, 0.275779 starboard, -0.027711 keelward ] 2021-05-18T16:45:00.698Z,1621356300.698 [lab_range_test:A.](INFO): relPosInNED: [ 0.127226 north, 0.270859 east, -0.021188 down ] 2021-05-18T16:45:00.698Z,1621356300.698 [lab_range_test:A.](DEBUG): Combining 10 samples. 2021-05-18T16:45:00.698Z,1621356300.698 [lab_range_test:A.](DEBUG): Could not read vehicle position; cannot calculate contact position. 2021-05-18T16:45:01.052Z,1621356301.052 [DAT](INFO): DAT read: Rx Time:16:44:34.4747 2021-05-18T16:45:01.053Z,1621356301.053 [DAT](INFO): received an acoustic signal 2021-05-18T16:45:01.054Z,1621356301.054 [DAT](INFO): DAT read: Bearing 67.5, -4.7 (Local) 2021-05-18T16:45:01.054Z,1621356301.054 [DAT](INFO): Local bearing/azimuth received: Bearing 67.5, -4.7 (Local) 2021-05-18T16:45:01.056Z,1621356301.056 [DAT](INFO): DAT read: Range 7 to 50 : 0.2 m (trip time 0.1 ms) speed 0.0 2021-05-18T16:45:01.061Z,1621356301.061 [DAT](INFO): DAT read: 16:44:34.4747 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 495, 0.10, 0.750, 0.493, 0.730, 0.692, PHS= 0.054,-0.155, 0.023, RAW= 142.1, 8.0, CAL= 142.5, 4.7, ROT= 67.5, -4.7 2021-05-18T16:45:01.062Z,1621356301.062 [DAT](INFO): got valid direction response: 16:44:34.4747 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 495, 0.10, 0.750, 0.493, 0.730, 0.692, PHS= 0.054,-0.155, 0.023, RAW= 142.1, 8.0, CAL= 142.5, 4.7, ROT= 67.5, -4.7 2021-05-18T16:45:01.063Z,1621356301.063 [DAT](INFO): #Rx 3: Read range and direction messages. 2021-05-18T16:45:01.064Z,1621356301.064 [DAT](INFO): direction in vehicle frame: [ 0.381397 forward, 0.920773 starboard, -0.081939 keelward ] 2021-05-18T16:45:01.064Z,1621356301.064 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone 2021-05-18T16:45:01.064Z,1621356301.064 [DAT](INFO): publishing direction and range info 2021-05-18T16:45:01.067Z,1621356301.067 [DAT](INFO): checking for new query: numPingsReceived=3 elapsed TxPingTime=3.251085 2021-05-18T16:45:01.075Z,1621356301.075 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:45:01.076Z,1621356301.076 [lab_range_test:A.](INFO): direction in vehicle frame: [ 0.381397 forward, 0.920773 starboard, -0.081939 keelward ] 2021-05-18T16:45:01.076Z,1621356301.076 [lab_range_test:A.](DEBUG): processing response from DAT 2021-05-18T16:45:01.078Z,1621356301.078 [lab_range_test:A.](INFO): rotationFromVehicleToNavigationFrame_ = [ 0.998946,-0.045821,-0.002765;0.045876,0.998639,0.024811;0.001624,-0.024911,0.999688 ] 2021-05-18T16:45:01.078Z,1621356301.078 [lab_range_test:A.](INFO): rangeToContact_ = 0.200000 m 2021-05-18T16:45:01.079Z,1621356301.079 [lab_range_test:A.](INFO): direction in world frame: [ 0.423103 north, 0.904085 east, -0.060123 down ] 2021-05-18T16:45:01.080Z,1621356301.080 [lab_range_test:A.](INFO): relPosInFSK: [ 0.076279 forward, 0.184155 starboard, -0.016388 keelward ] 2021-05-18T16:45:01.081Z,1621356301.081 [lab_range_test:A.](INFO): relPosInNED: [ 0.084621 north, 0.180817 east, -0.012025 down ] 2021-05-18T16:45:01.081Z,1621356301.081 [lab_range_test:A.](DEBUG): Combining 10 samples. 2021-05-18T16:45:01.081Z,1621356301.081 [lab_range_test:A.](DEBUG): Could not read vehicle position; cannot calculate contact position. 2021-05-18T16:45:01.443Z,1621356301.443 [DAT](INFO): checking for new query: numPingsReceived=3 elapsed TxPingTime=3.626919 2021-05-18T16:45:01.461Z,1621356301.461 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:45:01.851Z,1621356301.851 [DAT](INFO): DAT read: Rx Time:16:44:34.9748 2021-05-18T16:45:01.851Z,1621356301.851 [DAT](INFO): received an acoustic signal 2021-05-18T16:45:01.853Z,1621356301.853 [DAT](INFO): DAT read: Bearing 68.6, -7.3 (Local) 2021-05-18T16:45:01.853Z,1621356301.853 [DAT](INFO): Local bearing/azimuth received: Bearing 68.6, -7.3 (Local) 2021-05-18T16:45:01.855Z,1621356301.855 [DAT](INFO): DAT read: Range 7 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0 2021-05-18T16:45:01.860Z,1621356301.860 [DAT](INFO): DAT read: 16:44:34.9748 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 0, 0.61,-2.064,-2.524,-2.122,-2.161, PHS= 0.093,-0.318, 0.024, RAW= 140.9, 10.6, CAL= 141.4, 7.3, ROT= 68.6, -7.3 2021-05-18T16:45:01.861Z,1621356301.861 [DAT](INFO): got valid direction response: 16:44:34.9748 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 0, 0.61,-2.064,-2.524,-2.122,-2.161, PHS= 0.093,-0.318, 0.024, RAW= 140.9, 10.6, CAL= 141.4, 7.3, ROT= 68.6, -7.3 2021-05-18T16:45:01.861Z,1621356301.861 [DAT](INFO): #Rx 4: Read range and direction messages. 2021-05-18T16:45:01.862Z,1621356301.862 [DAT](INFO): direction in vehicle frame: [ 0.361919 forward, 0.923509 starboard, -0.127065 keelward ] 2021-05-18T16:45:01.863Z,1621356301.863 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone 2021-05-18T16:45:01.863Z,1621356301.863 [DAT](INFO): publishing direction and range info 2021-05-18T16:45:01.866Z,1621356301.866 [DAT](INFO): checking for new query: numPingsReceived=4 elapsed TxPingTime=4.049601 2021-05-18T16:45:01.873Z,1621356301.873 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:45:01.874Z,1621356301.874 [lab_range_test:A.](INFO): direction in vehicle frame: [ 0.361919 forward, 0.923509 starboard, -0.127065 keelward ] 2021-05-18T16:45:01.875Z,1621356301.875 [lab_range_test:A.](DEBUG): processing response from DAT 2021-05-18T16:45:01.877Z,1621356301.877 [lab_range_test:A.](INFO): rotationFromVehicleToNavigationFrame_ = [ 0.998937,-0.046012,-0.002773;0.046067,0.998631,0.024784;0.001629,-0.024885,0.999689 ] 2021-05-18T16:45:01.877Z,1621356301.877 [lab_range_test:A.](INFO): rangeToContact_ = 0.300000 m 2021-05-18T16:45:01.878Z,1621356301.878 [lab_range_test:A.](INFO): direction in world frame: [ 0.403871 north, 0.908754 east, -0.105141 down ] 2021-05-18T16:45:01.879Z,1621356301.879 [lab_range_test:A.](INFO): relPosInFSK: [ 0.108576 forward, 0.277053 starboard, -0.038119 keelward ] 2021-05-18T16:45:01.880Z,1621356301.880 [lab_range_test:A.](INFO): relPosInNED: [ 0.121161 north, 0.272626 east, -0.031542 down ] 2021-05-18T16:45:01.880Z,1621356301.880 [lab_range_test:A.](DEBUG): Combining 10 samples. 2021-05-18T16:45:01.880Z,1621356301.880 [lab_range_test:A.](DEBUG): Could not read vehicle position; cannot calculate contact position. 2021-05-18T16:45:02.261Z,1621356302.261 [DAT](INFO): DAT read: Rx Time:16:44:35.4747 2021-05-18T16:45:02.261Z,1621356302.261 [DAT](INFO): received an acoustic signal 2021-05-18T16:45:02.263Z,1621356302.263 [DAT](INFO): DAT read: Bearing 68.8, -4.7 (Local) 2021-05-18T16:45:02.263Z,1621356302.263 [DAT](INFO): Local bearing/azimuth received: Bearing 68.8, -4.7 (Local) 2021-05-18T16:45:02.265Z,1621356302.265 [DAT](INFO): DAT read: Range 7 to 50 : 0.2 m (trip time 0.1 ms) speed 0.0 2021-05-18T16:45:02.270Z,1621356302.270 [DAT](INFO): DAT read: 16:44:35.4747 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 495, 0.35, 1.222, 0.956, 1.195, 1.159, PHS= 0.059,-0.160, 0.021, RAW= 140.7, 8.0, CAL= 141.2, 4.7, ROT= 68.8, -4.7 2021-05-18T16:45:02.271Z,1621356302.271 [DAT](INFO): got valid direction response: 16:44:35.4747 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 495, 0.35, 1.222, 0.956, 1.195, 1.159, PHS= 0.059,-0.160, 0.021, RAW= 140.7, 8.0, CAL= 141.2, 4.7, ROT= 68.8, -4.7 2021-05-18T16:45:02.271Z,1621356302.271 [DAT](INFO): #Rx 5: Read range and direction messages. 2021-05-18T16:45:02.272Z,1621356302.272 [DAT](INFO): direction in vehicle frame: [ 0.360409 forward, 0.929189 starboard, -0.081939 keelward ] 2021-05-18T16:45:02.273Z,1621356302.273 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone 2021-05-18T16:45:02.273Z,1621356302.273 [DAT](INFO): publishing direction and range info 2021-05-18T16:45:02.315Z,1621356302.315 [DAT](INFO): checking for new query: numPingsReceived=5 elapsed TxPingTime=4.496102 2021-05-18T16:45:02.346Z,1621356302.346 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:45:02.356Z,1621356302.356 [lab_range_test:A.](INFO): direction in vehicle frame: [ 0.360409 forward, 0.929189 starboard, -0.081939 keelward ] 2021-05-18T16:45:02.356Z,1621356302.356 [lab_range_test:A.](DEBUG): processing response from DAT 2021-05-18T16:45:02.358Z,1621356302.358 [lab_range_test:A.](INFO): rotationFromVehicleToNavigationFrame_ = [ 0.998919,-0.046398,-0.002744;0.046452,0.998613,0.024791;0.001589,-0.024892,0.999689 ] 2021-05-18T16:45:02.358Z,1621356302.358 [lab_range_test:A.](INFO): rangeToContact_ = 0.200000 m 2021-05-18T16:45:02.367Z,1621356302.367 [lab_range_test:A.](INFO): direction in world frame: [ 0.403052 north, 0.913217 east, -0.059866 down ] 2021-05-18T16:45:02.368Z,1621356302.368 [lab_range_test:A.](INFO): relPosInFSK: [ 0.072082 forward, 0.185838 starboard, -0.016388 keelward ] 2021-05-18T16:45:02.369Z,1621356302.369 [lab_range_test:A.](INFO): relPosInNED: [ 0.080610 north, 0.182643 east, -0.011973 down ] 2021-05-18T16:45:02.369Z,1621356302.369 [lab_range_test:A.](DEBUG): Combining 10 samples. 2021-05-18T16:45:02.369Z,1621356302.369 [lab_range_test:A.](DEBUG): Could not read vehicle position; cannot calculate contact position. 2021-05-18T16:45:02.674Z,1621356302.674 [DAT](INFO): DAT read: Rx Time:16:44:35.9747 2021-05-18T16:45:02.674Z,1621356302.674 [DAT](INFO): received an acoustic signal 2021-05-18T16:45:02.676Z,1621356302.676 [DAT](INFO): DAT read: Bearing 118.5, 16.2 (Local) 2021-05-18T16:45:02.676Z,1621356302.676 [DAT](INFO): Local bearing/azimuth received: Bearing 118.5, 16.2 (Local) 2021-05-18T16:45:02.678Z,1621356302.678 [DAT](INFO): DAT read: Range 7 to 50 : 0.2 m (trip time 0.1 ms) speed 0.0 2021-05-18T16:45:02.683Z,1621356302.683 [DAT](INFO): DAT read: 16:44:35.9747 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 512,-0.39, 0.534,-2.656,-2.595,-2.312, PHS= 2.842,-0.301,-0.298, RAW= 90.0, -14.2, CAL= 91.5, -16.2, ROT= 118.5, 16.2 2021-05-18T16:45:02.684Z,1621356302.684 [DAT](INFO): got valid direction response: 16:44:35.9747 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 512,-0.39, 0.534,-2.656,-2.595,-2.312, PHS= 2.842,-0.301,-0.298, RAW= 90.0, -14.2, CAL= 91.5, -16.2, ROT= 118.5, 16.2 2021-05-18T16:45:02.685Z,1621356302.685 [DAT](INFO): #Rx 6: Read range and direction messages. 2021-05-18T16:45:02.686Z,1621356302.686 [DAT](INFO): direction in vehicle frame: [ -0.458213 forward, 0.843923 starboard, 0.278991 keelward ] 2021-05-18T16:45:02.686Z,1621356302.686 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone 2021-05-18T16:45:02.686Z,1621356302.686 [DAT](INFO): publishing direction and range info 2021-05-18T16:45:02.689Z,1621356302.689 [DAT](INFO): checking for new query: numPingsReceived=6 elapsed TxPingTime=4.872902 2021-05-18T16:45:02.697Z,1621356302.697 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:45:02.698Z,1621356302.698 [lab_range_test:A.](INFO): direction in vehicle frame: [ -0.458213 forward, 0.843923 starboard, 0.278991 keelward ] 2021-05-18T16:45:02.698Z,1621356302.698 [lab_range_test:A.](DEBUG): processing response from DAT 2021-05-18T16:45:02.701Z,1621356302.701 [lab_range_test:A.](INFO): rotationFromVehicleToNavigationFrame_ = [ 0.998861,-0.047642,-0.002644;0.047693,0.998556,0.024706;0.001463,-0.024804,0.999691 ] 2021-05-18T16:45:02.701Z,1621356302.701 [lab_range_test:A.](INFO): rangeToContact_ = 0.200000 m 2021-05-18T16:45:02.702Z,1621356302.702 [lab_range_test:A.](INFO): direction in world frame: [ -0.417033 north, 0.857614 east, 0.300966 down ] 2021-05-18T16:45:02.702Z,1621356302.702 [lab_range_test:A.](INFO): relPosInFSK: [ -0.091643 forward, 0.168785 starboard, 0.055798 keelward ] 2021-05-18T16:45:02.703Z,1621356302.703 [lab_range_test:A.](INFO): relPosInNED: [ -0.083407 north, 0.171523 east, 0.060193 down ] 2021-05-18T16:45:02.704Z,1621356302.704 [lab_range_test:A.](DEBUG): Combining 10 samples. 2021-05-18T16:45:02.704Z,1621356302.704 [lab_range_test:A.](DEBUG): Could not read vehicle position; cannot calculate contact position. 2021-05-18T16:45:03.069Z,1621356303.069 [DAT](INFO): DAT read: Rx Time:16:44:37.2792 2021-05-18T16:45:03.070Z,1621356303.070 [DAT](INFO): received an acoustic signal 2021-05-18T16:45:03.071Z,1621356303.071 [DAT](INFO): DAT read: Bearing 67.4, -6.8 (Local) 2021-05-18T16:45:03.071Z,1621356303.071 [DAT](INFO): Local bearing/azimuth received: Bearing 67.4, -6.8 (Local) 2021-05-18T16:45:03.073Z,1621356303.073 [DAT](INFO): DAT read: Range 7 to 50 : 457.1 m (trip time 304.7 ms) speed 0.0 2021-05-18T16:45:03.078Z,1621356303.078 [DAT](INFO): DAT read: 16:44:37.2792 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 511,-0.24,-2.222,-2.581,-2.258,-2.297, PHS= 0.070,-0.241, 0.024, RAW= 142.1, 10.1, CAL= 142.6, 6.8, ROT= 67.4, -6.8 2021-05-18T16:45:03.079Z,1621356303.079 [DAT](INFO): got valid direction response: 16:44:37.2792 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 511,-0.24,-2.222,-2.581,-2.258,-2.297, PHS= 0.070,-0.241, 0.024, RAW= 142.1, 10.1, CAL= 142.6, 6.8, ROT= 67.4, -6.8 2021-05-18T16:45:03.080Z,1621356303.080 [DAT](INFO): #Rx 7: Read range and direction messages. 2021-05-18T16:45:03.081Z,1621356303.081 [DAT](INFO): direction in vehicle frame: [ 0.381592 forward, 0.916716 starboard, -0.118404 keelward ] 2021-05-18T16:45:03.081Z,1621356303.081 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone 2021-05-18T16:45:03.081Z,1621356303.081 [DAT](INFO): publishing direction and range info 2021-05-18T16:45:03.084Z,1621356303.084 [DAT](INFO): checking for new query: numPingsReceived=7 elapsed TxPingTime=5.267979 2021-05-18T16:45:03.122Z,1621356303.122 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:45:03.132Z,1621356303.132 [lab_range_test:A.](INFO): direction in vehicle frame: [ 0.381592 forward, 0.916716 starboard, -0.118404 keelward ] 2021-05-18T16:45:03.132Z,1621356303.132 [lab_range_test:A.](DEBUG): processing response from DAT 2021-05-18T16:45:03.134Z,1621356303.134 [lab_range_test:A.](INFO): rotationFromVehicleToNavigationFrame_ = [ 0.998898,-0.046860,-0.002699;0.046913,0.998592,0.024744;0.001536,-0.024843,0.999690 ] 2021-05-18T16:45:03.134Z,1621356303.134 [lab_range_test:A.](INFO): rangeToContact_ = 457.100006 m 2021-05-18T16:45:03.144Z,1621356303.144 [lab_range_test:A.](INFO): direction in world frame: [ 0.423995 north, 0.900486 east, -0.096714 down ] 2021-05-18T16:45:03.145Z,1621356303.145 [lab_range_test:A.](INFO): relPosInFSK: [ 174.425710 forward, 419.030842 starboard, -54.122456 keelward ] 2021-05-18T16:45:03.146Z,1621356303.146 [lab_range_test:A.](INFO): relPosInNED: [ 193.808286 north, 411.611960 east, -44.207979 down ] 2021-05-18T16:45:03.146Z,1621356303.146 [lab_range_test:A.](DEBUG): Combining 10 samples. 2021-05-18T16:45:03.147Z,1621356303.147 [lab_range_test:A.](DEBUG): Could not read vehicle position; cannot calculate contact position. 2021-05-18T16:45:03.474Z,1621356303.474 [DAT](INFO): checking for new query: numPingsReceived=7 elapsed TxPingTime=5.657691 2021-05-18T16:45:03.534Z,1621356303.534 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:45:03.872Z,1621356303.872 [DAT](INFO): DAT read: Rx Time:16:44:37.7793 2021-05-18T16:45:03.872Z,1621356303.872 [DAT](INFO): received an acoustic signal 2021-05-18T16:45:03.873Z,1621356303.873 [DAT](INFO): DAT read: Bearing 75.4, -5.5 (Local) 2021-05-18T16:45:03.874Z,1621356303.874 [DAT](INFO): Local bearing/azimuth received: Bearing 75.4, -5.5 (Local) 2021-05-18T16:45:03.876Z,1621356303.876 [DAT](INFO): DAT read: Range 7 to 50 : 457.2 m (trip time 304.8 ms) speed 0.0 2021-05-18T16:45:03.880Z,1621356303.880 [DAT](INFO): DAT read: 16:44:37.7793 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 0, 0.65,-2.082,-2.877,-2.290,-2.318, PHS= 0.231,-0.515, 0.012, RAW= 133.4, 8.2, CAL= 134.6, 5.5, ROT= 75.4, -5.5 2021-05-18T16:45:03.882Z,1621356303.882 [DAT](INFO): got valid direction response: 16:44:37.7793 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 0, 0.65,-2.082,-2.877,-2.290,-2.318, PHS= 0.231,-0.515, 0.012, RAW= 133.4, 8.2, CAL= 134.6, 5.5, ROT= 75.4, -5.5 2021-05-18T16:45:03.882Z,1621356303.882 [DAT](INFO): #Rx 8: Read range and direction messages. 2021-05-18T16:45:03.919Z,1621356303.919 [DAT](INFO): direction in vehicle frame: [ 0.250909 forward, 0.963254 starboard, -0.095846 keelward ] 2021-05-18T16:45:03.920Z,1621356303.920 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone 2021-05-18T16:45:03.920Z,1621356303.920 [DAT](INFO): publishing direction and range info 2021-05-18T16:45:03.931Z,1621356303.931 [DAT](INFO): checking for new query: numPingsReceived=8 elapsed TxPingTime=6.114886 2021-05-18T16:45:03.955Z,1621356303.955 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:45:03.956Z,1621356303.956 [lab_range_test:A.](INFO): direction in vehicle frame: [ 0.250909 forward, 0.963254 starboard, -0.095846 keelward ] 2021-05-18T16:45:03.956Z,1621356303.956 [lab_range_test:A.](DEBUG): processing response from DAT 2021-05-18T16:45:03.959Z,1621356303.959 [lab_range_test:A.](INFO): rotationFromVehicleToNavigationFrame_ = [ 0.998969,-0.045307,-0.002824;0.045364,0.998660,0.024914;0.001692,-0.025016,0.999686 ] 2021-05-18T16:45:03.967Z,1621356303.967 [lab_range_test:A.](INFO): rangeToContact_ = 457.200012 m 2021-05-18T16:45:03.968Z,1621356303.968 [lab_range_test:A.](INFO): direction in world frame: [ 0.294185 north, 0.952993 east, -0.072526 down ] 2021-05-18T16:45:03.969Z,1621356303.969 [lab_range_test:A.](INFO): relPosInFSK: [ 114.715529 forward, 440.399758 starboard, -43.820679 keelward ] 2021-05-18T16:45:03.970Z,1621356303.970 [lab_range_test:A.](INFO): relPosInNED: [ 134.501383 north, 435.708272 east, -33.159004 down ] 2021-05-18T16:45:03.970Z,1621356303.970 [lab_range_test:A.](DEBUG): Combining 10 samples. 2021-05-18T16:45:03.970Z,1621356303.970 [lab_range_test:A.](DEBUG): Could not read vehicle position; cannot calculate contact position. 2021-05-18T16:45:04.278Z,1621356304.278 [DAT](INFO): DAT read: Rx Time:16:44:38.2792 2021-05-18T16:45:04.279Z,1621356304.279 [DAT](INFO): received an acoustic signal 2021-05-18T16:45:04.280Z,1621356304.280 [DAT](INFO): DAT read: Bearing 64.9, -7.5 (Local) 2021-05-18T16:45:04.280Z,1621356304.280 [DAT](INFO): Local bearing/azimuth received: Bearing 64.9, -7.5 (Local) 2021-05-18T16:45:04.282Z,1621356304.282 [DAT](INFO): DAT read: Range 7 to 50 : 457.1 m (trip time 304.7 ms) speed 0.0 2021-05-18T16:45:04.287Z,1621356304.287 [DAT](INFO): DAT read: 16:44:38.2792 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 495, 0.01,-1.078,-1.354,-1.091,-1.127, PHS= 0.044,-0.184, 0.021, RAW= 144.6, 10.9, CAL= 145.1, 7.5, ROT= 64.9, -7.5 2021-05-18T16:45:04.288Z,1621356304.288 [DAT](INFO): got valid direction response: 16:44:38.2792 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 495, 0.01,-1.078,-1.354,-1.091,-1.127, PHS= 0.044,-0.184, 0.021, RAW= 144.6, 10.9, CAL= 145.1, 7.5, ROT= 64.9, -7.5 2021-05-18T16:45:04.289Z,1621356304.289 [DAT](INFO): #Rx 9: Read range and direction messages. 2021-05-18T16:45:04.290Z,1621356304.290 [DAT](INFO): direction in vehicle frame: [ 0.420570 forward, 0.897822 starboard, -0.130526 keelward ] 2021-05-18T16:45:04.290Z,1621356304.290 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone 2021-05-18T16:45:04.290Z,1621356304.290 [DAT](INFO): publishing direction and range info 2021-05-18T16:45:04.298Z,1621356304.298 [DAT](INFO): checking for new query: numPingsReceived=9 elapsed TxPingTime=6.481369 2021-05-18T16:45:04.360Z,1621356304.360 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:45:04.361Z,1621356304.361 [lab_range_test:A.](INFO): direction in vehicle frame: [ 0.420570 forward, 0.897822 starboard, -0.130526 keelward ] 2021-05-18T16:45:04.361Z,1621356304.361 [lab_range_test:A.](DEBUG): processing response from DAT 2021-05-18T16:45:04.369Z,1621356304.369 [lab_range_test:A.](INFO): rotationFromVehicleToNavigationFrame_ = [ 0.998980,-0.045067,-0.002762;0.045122,0.998671,0.024920;0.001636,-0.025019,0.999686 ] 2021-05-18T16:45:04.369Z,1621356304.369 [lab_range_test:A.](INFO): rangeToContact_ = 457.100006 m 2021-05-18T16:45:04.370Z,1621356304.370 [lab_range_test:A.](INFO): direction in world frame: [ 0.460439 north, 0.880940 east, -0.109273 down ] 2021-05-18T16:45:04.383Z,1621356304.383 [lab_range_test:A.](INFO): relPosInFSK: [ 192.242705 forward, 410.394227 starboard, -59.663525 keelward ] 2021-05-18T16:45:04.384Z,1621356304.384 [lab_range_test:A.](INFO): relPosInNED: [ 210.466831 north, 402.677605 east, -49.948792 down ] 2021-05-18T16:45:04.384Z,1621356304.384 [lab_range_test:A.](DEBUG): Combining 10 samples. 2021-05-18T16:45:04.384Z,1621356304.384 [lab_range_test:A.](DEBUG): Could not read vehicle position; cannot calculate contact position. 2021-05-18T16:45:04.679Z,1621356304.679 [DAT](INFO): DAT read: Rx Time:16:44:38.7793 2021-05-18T16:45:04.680Z,1621356304.680 [DAT](INFO): received an acoustic signal 2021-05-18T16:45:04.681Z,1621356304.681 [DAT](INFO): DAT read: Bearing 67.1, -8.9 (Local) 2021-05-18T16:45:04.681Z,1621356304.681 [DAT](INFO): Local bearing/azimuth received: Bearing 67.1, -8.9 (Local) 2021-05-18T16:45:04.684Z,1621356304.684 [DAT](INFO): DAT read: Range 7 to 50 : 457.2 m (trip time 304.8 ms) speed 0.0 2021-05-18T16:45:04.688Z,1621356304.688 [DAT](INFO): DAT read: 16:44:38.7793 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 0, 0.59, 1.786, 1.315, 1.736, 1.701, PHS= 0.080,-0.343, 0.020, RAW= 142.4, 12.2, CAL= 142.9, 8.9, ROT= 67.1, -8.9 2021-05-18T16:45:04.689Z,1621356304.689 [DAT](INFO): got valid direction response: 16:44:38.7793 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 0, 0.59, 1.786, 1.315, 1.736, 1.701, PHS= 0.080,-0.343, 0.020, RAW= 142.4, 12.2, CAL= 142.9, 8.9, ROT= 67.1, -8.9 2021-05-18T16:45:04.690Z,1621356304.690 [DAT](INFO): #Rx 10: Read range and direction messages. 2021-05-18T16:45:04.691Z,1621356304.691 [DAT](INFO): direction in vehicle frame: [ 0.384439 forward, 0.910094 starboard, -0.154710 keelward ] 2021-05-18T16:45:04.691Z,1621356304.691 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone 2021-05-18T16:45:04.691Z,1621356304.691 [DAT](INFO): publishing direction and range info 2021-05-18T16:45:04.701Z,1621356304.701 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:45:04.702Z,1621356304.702 [lab_range_test:A.](INFO): direction in vehicle frame: [ 0.384439 forward, 0.910094 starboard, -0.154710 keelward ] 2021-05-18T16:45:04.702Z,1621356304.702 [lab_range_test:A.](DEBUG): processing response from DAT 2021-05-18T16:45:04.705Z,1621356304.705 [lab_range_test:A.](INFO): rotationFromVehicleToNavigationFrame_ = [ 0.998971,-0.045263,-0.002742;0.045317,0.998662,0.024909;0.001611,-0.025007,0.999686 ] 2021-05-18T16:45:04.706Z,1621356304.706 [lab_range_test:A.](INFO): rangeToContact_ = 457.200012 m 2021-05-18T16:45:04.706Z,1621356304.706 [lab_range_test:A.](INFO): direction in world frame: [ 0.425037 north, 0.895345 east, -0.133047 down ] 2021-05-18T16:45:04.707Z,1621356304.707 [lab_range_test:A.](INFO): relPosInFSK: [ 175.765467 forward, 416.095075 starboard, -70.733586 keelward ] 2021-05-18T16:45:04.708Z,1621356304.708 [lab_range_test:A.](INFO): relPosInNED: [ 194.326921 north, 409.351579 east, -60.828943 down ] 2021-05-18T16:45:04.709Z,1621356304.709 [lab_range_test:A.](DEBUG): Combining 10 samples. 2021-05-18T16:45:04.709Z,1621356304.709 [lab_range_test:A.](DEBUG): Could not read vehicle position; cannot calculate contact position. 2021-05-18T16:45:05.102Z,1621356305.102 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:45:05.518Z,1621356305.518 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:45:05.918Z,1621356305.918 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:45:06.337Z,1621356306.337 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:45:06.721Z,1621356306.721 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:45:07.112Z,1621356307.112 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:45:07.525Z,1621356307.525 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:45:07.924Z,1621356307.924 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:45:08.344Z,1621356308.344 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:45:08.741Z,1621356308.741 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:45:09.145Z,1621356309.145 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:45:09.536Z,1621356309.536 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:45:09.938Z,1621356309.938 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:45:09.939Z,1621356309.939 [lab_range_test:A.](INFO): update period (5.000000 s) has elapsed, querying... 2021-05-18T16:45:09.955Z,1621356309.955 [lab_range_test:A.](INFO): *** querying DAT *** 2021-05-18T16:45:10.334Z,1621356310.334 [DAT](INFO): ****** received valid address query ****** 2021-05-18T16:45:10.334Z,1621356310.334 [DAT](INFO): ****** received valid ping request ****** 2021-05-18T16:45:10.335Z,1621356310.335 [DAT](INFO): Querying Benthos address 50 with 10 pings in terminal homing one-way mode. 2021-05-18T16:45:10.336Z,1621356310.336 [DAT](INFO): ****** ping requested ****** 2021-05-18T16:45:10.344Z,1621356310.344 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:45:10.739Z,1621356310.739 [DAT](INFO): DAT read: user:15> 2021-05-18T16:45:10.740Z,1621356310.740 [DAT](INFO): DAT read: Tx time:16:44:45.0496 2021-05-18T16:45:10.740Z,1621356310.740 [DAT](INFO): Ping request sent. 2021-05-18T16:45:10.740Z,1621356310.740 [DAT](INFO): transmitted an acoustic signal 2021-05-18T16:45:10.741Z,1621356310.741 [DAT](INFO): publishing transmit ping time 2021-05-18T16:45:10.741Z,1621356310.741 [DAT](INFO): checking for new query: numPingsReceived=0 elapsed TxPingTime=0.000880 2021-05-18T16:45:10.753Z,1621356310.753 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:45:11.152Z,1621356311.152 [DAT](INFO): checking for new query: numPingsReceived=0 elapsed TxPingTime=0.411972 2021-05-18T16:45:11.160Z,1621356311.160 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:45:11.553Z,1621356311.553 [DAT](INFO): checking for new query: numPingsReceived=0 elapsed TxPingTime=0.812602 2021-05-18T16:45:11.584Z,1621356311.584 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:45:11.961Z,1621356311.961 [DAT](INFO): checking for new query: numPingsReceived=0 elapsed TxPingTime=1.220776 2021-05-18T16:45:11.973Z,1621356311.973 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:45:12.369Z,1621356312.369 [DAT](INFO): checking for new query: numPingsReceived=0 elapsed TxPingTime=1.628719 2021-05-18T16:45:12.382Z,1621356312.382 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:45:12.762Z,1621356312.762 [DAT](INFO): checking for new query: numPingsReceived=0 elapsed TxPingTime=2.014545 2021-05-18T16:45:12.770Z,1621356312.770 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:45:13.159Z,1621356313.159 [DAT](INFO): DAT read: Rx Time:16:44:47.1792 2021-05-18T16:45:13.159Z,1621356313.159 [DAT](INFO): received an acoustic signal 2021-05-18T16:45:13.160Z,1621356313.160 [DAT](INFO): DAT read: Bearing 67.4, -4.4 (Local) 2021-05-18T16:45:13.161Z,1621356313.161 [DAT](INFO): Local bearing/azimuth received: Bearing 67.4, -4.4 (Local) 2021-05-18T16:45:13.163Z,1621356313.163 [DAT](INFO): DAT read: Range 7 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0 2021-05-18T16:45:13.167Z,1621356313.167 [DAT](INFO): DAT read: 16:44:47.1792 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 208, 0.13,-3.025, 2.997,-3.045,-3.085, PHS= 0.056,-0.157, 0.025, RAW= 142.2, 7.8, CAL= 142.6, 4.4, ROT= 67.4, -4.4 2021-05-18T16:45:13.169Z,1621356313.169 [DAT](INFO): got valid direction response: 16:44:47.1792 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 208, 0.13,-3.025, 2.997,-3.045,-3.085, PHS= 0.056,-0.157, 0.025, RAW= 142.2, 7.8, CAL= 142.6, 4.4, ROT= 67.4, -4.4 2021-05-18T16:45:13.169Z,1621356313.169 [DAT](INFO): #Rx 1: Read range and direction messages. 2021-05-18T16:45:13.170Z,1621356313.170 [DAT](INFO): direction in vehicle frame: [ 0.383163 forward, 0.920489 starboard, -0.076719 keelward ] 2021-05-18T16:45:13.170Z,1621356313.170 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone 2021-05-18T16:45:13.170Z,1621356313.171 [DAT](INFO): publishing direction and range info 2021-05-18T16:45:13.222Z,1621356313.222 [DAT](INFO): checking for new query: numPingsReceived=1 elapsed TxPingTime=2.481431 2021-05-18T16:45:13.249Z,1621356313.249 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:45:13.250Z,1621356313.250 [lab_range_test:A.](INFO): direction in vehicle frame: [ 0.383163 forward, 0.920489 starboard, -0.076719 keelward ] 2021-05-18T16:45:13.251Z,1621356313.251 [lab_range_test:A.](DEBUG): processing response from DAT 2021-05-18T16:45:13.265Z,1621356313.265 [lab_range_test:A.](INFO): rotationFromVehicleToNavigationFrame_ = [ 0.998886,-0.047109,-0.002833;0.047165,0.998582,0.024708;0.001665,-0.024814,0.999691 ] 2021-05-18T16:45:13.265Z,1621356313.265 [lab_range_test:A.](INFO): rangeToContact_ = 0.300000 m 2021-05-18T16:45:13.266Z,1621356313.266 [lab_range_test:A.](INFO): direction in world frame: [ 0.426023 north, 0.903037 east, -0.055038 down ] 2021-05-18T16:45:13.275Z,1621356313.275 [lab_range_test:A.](INFO): relPosInFSK: [ 0.114949 forward, 0.276147 starboard, -0.023016 keelward ] 2021-05-18T16:45:13.276Z,1621356313.276 [lab_range_test:A.](INFO): relPosInNED: [ 0.127807 north, 0.270911 east, -0.016511 down ] 2021-05-18T16:45:13.276Z,1621356313.276 [lab_range_test:A.](DEBUG): Combining 10 samples. 2021-05-18T16:45:13.276Z,1621356313.276 [lab_range_test:A.](DEBUG): Could not read vehicle position; cannot calculate contact position. 2021-05-18T16:45:13.576Z,1621356313.576 [DAT](INFO): DAT read: Rx Time:16:44:47.6792 2021-05-18T16:45:13.576Z,1621356313.576 [DAT](INFO): received an acoustic signal 2021-05-18T16:45:13.577Z,1621356313.577 [DAT](INFO): DAT read: Bearing 71.2, -3.0 (Local) 2021-05-18T16:45:13.578Z,1621356313.578 [DAT](INFO): Local bearing/azimuth received: Bearing 71.2, -3.0 (Local) 2021-05-18T16:45:13.620Z,1621356313.620 [DAT](INFO): DAT read: Range 7 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0 2021-05-18T16:45:13.633Z,1621356313.633 [DAT](INFO): DAT read: 16:44:47.6792 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 496, 0.23,-1.943,-2.211,-1.980,-2.016, PHS= 0.069,-0.151, 0.022, RAW= 138.1, 6.0, CAL= 138.8, 3.0, ROT= 71.2, -3.0 2021-05-18T16:45:13.634Z,1621356313.634 [DAT](INFO): got valid direction response: 16:44:47.6792 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 496, 0.23,-1.943,-2.211,-1.980,-2.016, PHS= 0.069,-0.151, 0.022, RAW= 138.1, 6.0, CAL= 138.8, 3.0, ROT= 71.2, -3.0 2021-05-18T16:45:13.635Z,1621356313.635 [DAT](INFO): #Rx 2: Read range and direction messages. 2021-05-18T16:45:13.644Z,1621356313.644 [DAT](INFO): direction in vehicle frame: [ 0.321824 forward, 0.945352 starboard, -0.052336 keelward ] 2021-05-18T16:45:13.644Z,1621356313.644 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone 2021-05-18T16:45:13.644Z,1621356313.644 [DAT](INFO): publishing direction and range info 2021-05-18T16:45:13.660Z,1621356313.660 [DAT](INFO): checking for new query: numPingsReceived=2 elapsed TxPingTime=2.919547 2021-05-18T16:45:13.686Z,1621356313.686 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:45:13.696Z,1621356313.696 [lab_range_test:A.](INFO): direction in vehicle frame: [ 0.321824 forward, 0.945352 starboard, -0.052336 keelward ] 2021-05-18T16:45:13.696Z,1621356313.696 [lab_range_test:A.](DEBUG): processing response from DAT 2021-05-18T16:45:13.698Z,1621356313.698 [lab_range_test:A.](INFO): rotationFromVehicleToNavigationFrame_ = [ 0.998890,-0.047024,-0.002811;0.047079,0.998586,0.024703;0.001646,-0.024808,0.999691 ] 2021-05-18T16:45:13.698Z,1621356313.698 [lab_range_test:A.](INFO): rangeToContact_ = 0.300000 m 2021-05-18T16:45:13.711Z,1621356313.711 [lab_range_test:A.](INFO): direction in world frame: [ 0.365887 north, 0.930180 east, -0.029872 down ] 2021-05-18T16:45:13.712Z,1621356313.712 [lab_range_test:A.](INFO): relPosInFSK: [ 0.096547 forward, 0.283606 starboard, -0.015701 keelward ] 2021-05-18T16:45:13.713Z,1621356313.713 [lab_range_test:A.](INFO): relPosInNED: [ 0.109766 north, 0.279054 east, -0.008961 down ] 2021-05-18T16:45:13.713Z,1621356313.713 [lab_range_test:A.](DEBUG): Combining 10 samples. 2021-05-18T16:45:13.713Z,1621356313.713 [lab_range_test:A.](DEBUG): Could not read vehicle position; cannot calculate contact position. 2021-05-18T16:45:13.971Z,1621356313.971 [DAT](INFO): DAT read: Rx Time:16:44:48.1791 2021-05-18T16:45:13.972Z,1621356313.972 [DAT](INFO): received an acoustic signal 2021-05-18T16:45:13.973Z,1621356313.973 [DAT](INFO): DAT read: Bearing 67.4, -5.1 (Local) 2021-05-18T16:45:13.973Z,1621356313.973 [DAT](INFO): Local bearing/azimuth received: Bearing 67.4, -5.1 (Local) 2021-05-18T16:45:13.975Z,1621356313.975 [DAT](INFO): DAT read: Range 7 to 50 : 0.2 m (trip time 0.1 ms) speed 0.0 2021-05-18T16:45:13.980Z,1621356313.980 [DAT](INFO): DAT read: 16:44:48.1791 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 495, 0.47, 2.072, 1.805, 2.051, 2.012, PHS= 0.055,-0.164, 0.023, RAW= 142.2, 8.4, CAL= 142.6, 5.1, ROT= 67.4, -5.1 2021-05-18T16:45:13.981Z,1621356313.981 [DAT](INFO): got valid direction response: 16:44:48.1791 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 495, 0.47, 2.072, 1.805, 2.051, 2.012, PHS= 0.055,-0.164, 0.023, RAW= 142.2, 8.4, CAL= 142.6, 5.1, ROT= 67.4, -5.1 2021-05-18T16:45:13.982Z,1621356313.982 [DAT](INFO): #Rx 3: Read range and direction messages. 2021-05-18T16:45:13.983Z,1621356313.983 [DAT](INFO): direction in vehicle frame: [ 0.382774 forward, 0.919555 starboard, -0.088894 keelward ] 2021-05-18T16:45:13.983Z,1621356313.983 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone 2021-05-18T16:45:13.983Z,1621356313.983 [DAT](INFO): publishing direction and range info 2021-05-18T16:45:13.986Z,1621356313.986 [DAT](INFO): checking for new query: numPingsReceived=3 elapsed TxPingTime=3.246075 2021-05-18T16:45:13.994Z,1621356313.994 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:45:13.995Z,1621356313.995 [lab_range_test:A.](INFO): direction in vehicle frame: [ 0.382774 forward, 0.919555 starboard, -0.088894 keelward ] 2021-05-18T16:45:13.995Z,1621356313.995 [lab_range_test:A.](DEBUG): processing response from DAT 2021-05-18T16:45:13.997Z,1621356313.997 [lab_range_test:A.](INFO): rotationFromVehicleToNavigationFrame_ = [ 0.998895,-0.046906,-0.002924;0.046964,0.998591,0.024704;0.001761,-0.024814,0.999691 ] 2021-05-18T16:45:13.998Z,1621356313.998 [lab_range_test:A.](INFO): rangeToContact_ = 0.200000 m 2021-05-18T16:45:13.998Z,1621356313.998 [lab_range_test:A.](INFO): direction in world frame: [ 0.425380 north, 0.902511 east, -0.067269 down ] 2021-05-18T16:45:13.999Z,1621356313.999 [lab_range_test:A.](INFO): relPosInFSK: [ 0.076555 forward, 0.183911 starboard, -0.017779 keelward ] 2021-05-18T16:45:14.000Z,1621356314.000 [lab_range_test:A.](INFO): relPosInNED: [ 0.085076 north, 0.180502 east, -0.013454 down ] 2021-05-18T16:45:14.000Z,1621356314.000 [lab_range_test:A.](DEBUG): Combining 10 samples. 2021-05-18T16:45:14.001Z,1621356314.001 [lab_range_test:A.](DEBUG): Could not read vehicle position; cannot calculate contact position. 2021-05-18T16:45:14.395Z,1621356314.395 [DAT](INFO): DAT read: Rx Time:16:44:48.6793 2021-05-18T16:45:14.396Z,1621356314.396 [DAT](INFO): received an acoustic signal 2021-05-18T16:45:14.397Z,1621356314.397 [DAT](INFO): DAT read: Bearing 68.1, -6.2 (Local) 2021-05-18T16:45:14.398Z,1621356314.398 [DAT](INFO): Local bearing/azimuth received: Bearing 68.1, -6.2 (Local) 2021-05-18T16:45:14.408Z,1621356314.408 [DAT](INFO): checking for new query: numPingsReceived=3 elapsed TxPingTime=3.667352 2021-05-18T16:45:14.461Z,1621356314.461 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:45:14.799Z,1621356314.799 [DAT](INFO): DAT read: Range 7 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0 2021-05-18T16:45:14.824Z,1621356314.824 [DAT](INFO): DAT read: 16:44:48.6793 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 1,-0.34, 2.236, 1.897, 2.200, 2.162, PHS= 0.070,-0.221, 0.023, RAW= 141.4, 9.4, CAL= 141.9, 6.2, ROT= 68.1, -6.2 2021-05-18T16:45:14.825Z,1621356314.825 [DAT](INFO): got valid direction response: 16:44:48.6793 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 1,-0.34, 2.236, 1.897, 2.200, 2.162, PHS= 0.070,-0.221, 0.023, RAW= 141.4, 9.4, CAL= 141.9, 6.2, ROT= 68.1, -6.2 2021-05-18T16:45:14.826Z,1621356314.826 [DAT](INFO): #Rx 4: Read range and direction messages. 2021-05-18T16:45:14.827Z,1621356314.827 [DAT](INFO): direction in vehicle frame: [ 0.370806 forward, 0.922409 starboard, -0.107999 keelward ] 2021-05-18T16:45:14.828Z,1621356314.828 [DAT](INFO): publishing direction and range info 2021-05-18T16:45:14.830Z,1621356314.830 [DAT](INFO): checking for new query: numPingsReceived=4 elapsed TxPingTime=4.090152 2021-05-18T16:45:14.838Z,1621356314.838 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:45:14.839Z,1621356314.839 [lab_range_test:A.](INFO): direction in vehicle frame: [ 0.370806 forward, 0.922409 starboard, -0.107999 keelward ] 2021-05-18T16:45:14.839Z,1621356314.839 [lab_range_test:A.](DEBUG): processing response from DAT 2021-05-18T16:45:14.841Z,1621356314.841 [lab_range_test:A.](INFO): rotationFromVehicleToNavigationFrame_ = [ 0.998923,-0.046319,-0.002846;0.046375,0.998617,0.024766;0.001695,-0.024872,0.999689 ] 2021-05-18T16:45:14.842Z,1621356314.842 [lab_range_test:A.](INFO): rangeToContact_ = 0.500000 m 2021-05-18T16:45:14.843Z,1621356314.843 [lab_range_test:A.](INFO): direction in world frame: [ 0.413001 north, 0.906645 east, -0.086176 down ] 2021-05-18T16:45:14.860Z,1621356314.860 [lab_range_test:A.](INFO): relPosInFSK: [ 0.185403 forward, 0.461205 starboard, -0.054000 keelward ] 2021-05-18T16:45:14.860Z,1621356314.860 [lab_range_test:A.](INFO): relPosInNED: [ 0.206500 north, 0.453322 east, -0.043088 down ] 2021-05-18T16:45:14.861Z,1621356314.861 [lab_range_test:A.](DEBUG): Combining 10 samples. 2021-05-18T16:45:14.861Z,1621356314.861 [lab_range_test:A.](DEBUG): Could not read vehicle position; cannot calculate contact position. 2021-05-18T16:45:15.189Z,1621356315.189 [DAT](INFO): DAT read: Rx Time:16:44:49.1792 2021-05-18T16:45:15.189Z,1621356315.189 [DAT](INFO): received an acoustic signal 2021-05-18T16:45:15.191Z,1621356315.191 [DAT](INFO): DAT read: Bearing 65.4, -7.4 (Local) 2021-05-18T16:45:15.191Z,1621356315.191 [DAT](INFO): Local bearing/azimuth received: Bearing 65.4, -7.4 (Local) 2021-05-18T16:45:15.193Z,1621356315.193 [DAT](INFO): DAT read: Range 7 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0 2021-05-18T16:45:15.198Z,1621356315.198 [DAT](INFO): DAT read: 16:44:49.1792 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 496,-0.16, 0.614, 0.294, 0.594, 0.555, PHS= 0.054,-0.217, 0.024, RAW= 144.1, 10.8, CAL= 144.6, 7.4, ROT= 65.4, -7.4 2021-05-18T16:45:15.203Z,1621356315.203 [DAT](INFO): got valid direction response: 16:44:49.1792 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 496,-0.16, 0.614, 0.294, 0.594, 0.555, PHS= 0.054,-0.217, 0.024, RAW= 144.1, 10.8, CAL= 144.6, 7.4, ROT= 65.4, -7.4 2021-05-18T16:45:15.204Z,1621356315.204 [DAT](INFO): #Rx 5: Read range and direction messages. 2021-05-18T16:45:15.205Z,1621356315.205 [DAT](INFO): direction in vehicle frame: [ 0.412814 forward, 0.901663 starboard, -0.128796 keelward ] 2021-05-18T16:45:15.205Z,1621356315.205 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone 2021-05-18T16:45:15.205Z,1621356315.205 [DAT](INFO): publishing direction and range info 2021-05-18T16:45:15.223Z,1621356315.223 [DAT](INFO): checking for new query: numPingsReceived=5 elapsed TxPingTime=4.482315 2021-05-18T16:45:15.242Z,1621356315.242 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:45:15.260Z,1621356315.260 [lab_range_test:A.](INFO): direction in vehicle frame: [ 0.412814 forward, 0.901663 starboard, -0.128796 keelward ] 2021-05-18T16:45:15.260Z,1621356315.260 [lab_range_test:A.](DEBUG): processing response from DAT 2021-05-18T16:45:15.262Z,1621356315.262 [lab_range_test:A.](INFO): rotationFromVehicleToNavigationFrame_ = [ 0.998939,-0.045968,-0.002815;0.046024,0.998632,0.024825;0.001670,-0.024929,0.999688 ] 2021-05-18T16:45:15.262Z,1621356315.262 [lab_range_test:A.](INFO): rangeToContact_ = 0.300000 m 2021-05-18T16:45:15.271Z,1621356315.271 [lab_range_test:A.](INFO): direction in world frame: [ 0.453658 north, 0.884664 east, -0.107533 down ] 2021-05-18T16:45:15.272Z,1621356315.272 [lab_range_test:A.](INFO): relPosInFSK: [ 0.123844 forward, 0.270499 starboard, -0.038639 keelward ] 2021-05-18T16:45:15.283Z,1621356315.283 [lab_range_test:A.](INFO): relPosInNED: [ 0.136097 north, 0.265399 east, -0.032260 down ] 2021-05-18T16:45:15.284Z,1621356315.284 [lab_range_test:A.](DEBUG): Combining 10 samples. 2021-05-18T16:45:15.284Z,1621356315.284 [lab_range_test:A.](DEBUG): Could not read vehicle position; cannot calculate contact position. 2021-05-18T16:45:15.596Z,1621356315.596 [DAT](INFO): DAT read: Rx Time:16:44:49.6793 2021-05-18T16:45:15.597Z,1621356315.597 [DAT](INFO): received an acoustic signal 2021-05-18T16:45:15.598Z,1621356315.598 [DAT](INFO): DAT read: Bearing 65.2, -7.4 (Local) 2021-05-18T16:45:15.598Z,1621356315.598 [DAT](INFO): Local bearing/azimuth received: Bearing 65.2, -7.4 (Local) 2021-05-18T16:45:15.600Z,1621356315.600 [DAT](INFO): DAT read: Range 7 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0 2021-05-18T16:45:15.605Z,1621356315.605 [DAT](INFO): DAT read: 16:44:49.6793 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 497,-0.04, 2.087, 1.782, 2.070, 2.032, PHS= 0.051,-0.206, 0.023, RAW= 144.3, 10.9, CAL= 144.8, 7.4, ROT= 65.2, -7.4 2021-05-18T16:45:15.606Z,1621356315.606 [DAT](INFO): got valid direction response: 16:44:49.6793 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 497,-0.04, 2.087, 1.782, 2.070, 2.032, PHS= 0.051,-0.206, 0.023, RAW= 144.3, 10.9, CAL= 144.8, 7.4, ROT= 65.2, -7.4 2021-05-18T16:45:15.607Z,1621356315.607 [DAT](INFO): #Rx 6: Read range and direction messages. 2021-05-18T16:45:15.608Z,1621356315.608 [DAT](INFO): direction in vehicle frame: [ 0.415959 forward, 0.900217 starboard, -0.128796 keelward ] 2021-05-18T16:45:15.608Z,1621356315.608 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone 2021-05-18T16:45:15.608Z,1621356315.608 [DAT](INFO): publishing direction and range info 2021-05-18T16:45:15.611Z,1621356315.611 [DAT](INFO): checking for new query: numPingsReceived=6 elapsed TxPingTime=4.871126 2021-05-18T16:45:15.619Z,1621356315.619 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:45:15.620Z,1621356315.620 [lab_range_test:A.](INFO): direction in vehicle frame: [ 0.415959 forward, 0.900217 starboard, -0.128796 keelward ] 2021-05-18T16:45:15.620Z,1621356315.620 [lab_range_test:A.](DEBUG): processing response from DAT 2021-05-18T16:45:15.622Z,1621356315.622 [lab_range_test:A.](INFO): rotationFromVehicleToNavigationFrame_ = [ 0.998940,-0.045951,-0.002810;0.046006,0.998633,0.024803;0.001666,-0.024906,0.999688 ] 2021-05-18T16:45:15.622Z,1621356315.622 [lab_range_test:A.](INFO): rangeToContact_ = 0.500000 m 2021-05-18T16:45:15.623Z,1621356315.623 [lab_range_test:A.](INFO): direction in world frame: [ 0.456719 north, 0.883081 east, -0.107596 down ] 2021-05-18T16:45:15.624Z,1621356315.624 [lab_range_test:A.](INFO): relPosInFSK: [ 0.207979 forward, 0.450108 starboard, -0.064398 keelward ] 2021-05-18T16:45:15.625Z,1621356315.625 [lab_range_test:A.](INFO): relPosInNED: [ 0.228359 north, 0.441540 east, -0.053798 down ] 2021-05-18T16:45:15.625Z,1621356315.625 [lab_range_test:A.](DEBUG): Combining 10 samples. 2021-05-18T16:45:15.625Z,1621356315.625 [lab_range_test:A.](DEBUG): Could not read vehicle position; cannot calculate contact position. 2021-05-18T16:45:15.987Z,1621356315.987 [DAT](INFO): DAT read: Rx Time:16:44:50.1792 2021-05-18T16:45:15.988Z,1621356315.988 [DAT](INFO): received an acoustic signal 2021-05-18T16:45:15.989Z,1621356315.989 [DAT](INFO): DAT read: Bearing 68.1, -5.3 (Local) 2021-05-18T16:45:15.989Z,1621356315.989 [DAT](INFO): Local bearing/azimuth received: Bearing 68.1, -5.3 (Local) 2021-05-18T16:45:15.992Z,1621356315.992 [DAT](INFO): DAT read: Range 7 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0 2021-05-18T16:45:15.996Z,1621356315.996 [DAT](INFO): DAT read: 16:44:50.1792 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 496, 0.04, 2.604, 2.324, 2.577, 2.541, PHS= 0.059,-0.172, 0.022, RAW= 141.4, 8.5, CAL= 141.9, 5.3, ROT= 68.1, -5.3 2021-05-18T16:45:15.997Z,1621356315.997 [DAT](INFO): got valid direction response: 16:44:50.1792 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 496, 0.04, 2.604, 2.324, 2.577, 2.541, PHS= 0.059,-0.172, 0.022, RAW= 141.4, 8.5, CAL= 141.9, 5.3, ROT= 68.1, -5.3 2021-05-18T16:45:15.998Z,1621356315.998 [DAT](INFO): #Rx 7: Read range and direction messages. 2021-05-18T16:45:15.999Z,1621356315.999 [DAT](INFO): direction in vehicle frame: [ 0.371393 forward, 0.923869 starboard, -0.092371 keelward ] 2021-05-18T16:45:15.999Z,1621356315.999 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone 2021-05-18T16:45:15.999Z,1621356315.999 [DAT](INFO): publishing direction and range info 2021-05-18T16:45:16.002Z,1621356316.002 [DAT](INFO): checking for new query: numPingsReceived=7 elapsed TxPingTime=5.262090 2021-05-18T16:45:16.048Z,1621356316.048 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:45:16.058Z,1621356316.058 [lab_range_test:A.](INFO): direction in vehicle frame: [ 0.371393 forward, 0.923869 starboard, -0.092371 keelward ] 2021-05-18T16:45:16.058Z,1621356316.058 [lab_range_test:A.](DEBUG): processing response from DAT 2021-05-18T16:45:16.065Z,1621356316.065 [lab_range_test:A.](INFO): rotationFromVehicleToNavigationFrame_ = [ 0.998929,-0.046179,-0.002884;0.046237,0.998623,0.024778;0.001736,-0.024885,0.999689 ] 2021-05-18T16:45:16.065Z,1621356316.065 [lab_range_test:A.](INFO): rangeToContact_ = 0.300000 m 2021-05-18T16:45:16.066Z,1621356316.066 [lab_range_test:A.](INFO): direction in world frame: [ 0.413552 north, 0.907745 east, -0.070521 down ] 2021-05-18T16:45:16.067Z,1621356316.067 [lab_range_test:A.](INFO): relPosInFSK: [ 0.111418 forward, 0.277161 starboard, -0.027711 keelward ] 2021-05-18T16:45:16.078Z,1621356316.078 [lab_range_test:A.](INFO): relPosInNED: [ 0.124065 north, 0.272324 east, -0.021156 down ] 2021-05-18T16:45:16.092Z,1621356316.092 [lab_range_test:A.](DEBUG): Combining 10 samples. 2021-05-18T16:45:16.092Z,1621356316.092 [lab_range_test:A.](DEBUG): Could not read vehicle position; cannot calculate contact position. 2021-05-18T16:45:16.412Z,1621356316.412 [DAT](INFO): DAT read: Rx Time:16:44:50.6793 2021-05-18T16:45:16.413Z,1621356316.413 [DAT](INFO): received an acoustic signal 2021-05-18T16:45:16.419Z,1621356316.419 [DAT](INFO): DAT read: Bearing 70.7, -3.3 (Local) 2021-05-18T16:45:16.420Z,1621356316.420 [DAT](INFO): Local bearing/azimuth received: Bearing 70.7, -3.3 (Local) 2021-05-18T16:45:16.427Z,1621356316.427 [DAT](INFO): DAT read: Range 7 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0 2021-05-18T16:45:16.429Z,1621356316.429 [DAT](ERROR): #Rx 8: Read range message, but no direction. 2021-05-18T16:45:16.429Z,1621356316.429 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone 2021-05-18T16:45:16.436Z,1621356316.436 [DAT](INFO): checking for new query: numPingsReceived=8 elapsed TxPingTime=5.690567 2021-05-18T16:45:16.510Z,1621356316.510 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:45:16.519Z,1621356316.519 [lab_range_test:A.](INFO): direction in vehicle frame: [ 0.371393 forward, 0.923869 starboard, -0.092371 keelward ] 2021-05-18T16:45:16.520Z,1621356316.520 [lab_range_test:A.](DEBUG): processing response from DAT 2021-05-18T16:45:16.522Z,1621356316.522 [lab_range_test:A.](INFO): rotationFromVehicleToNavigationFrame_ = [ 0.998939,-0.045971,-0.002846;0.046028,0.998633,0.024775;0.001703,-0.024880,0.999689 ] 2021-05-18T16:45:16.522Z,1621356316.522 [lab_range_test:A.](INFO): rangeToContact_ = 0.500000 m 2021-05-18T16:45:16.528Z,1621356316.528 [lab_range_test:A.](INFO): direction in world frame: [ 0.413365 north, 0.907831 east, -0.070510 down ] 2021-05-18T16:45:16.529Z,1621356316.529 [lab_range_test:A.](INFO): relPosInFSK: [ 0.185697 forward, 0.461935 starboard, -0.046185 keelward ] 2021-05-18T16:45:16.529Z,1621356316.529 [lab_range_test:A.](INFO): relPosInNED: [ 0.206683 north, 0.453916 east, -0.035255 down ] 2021-05-18T16:45:16.530Z,1621356316.530 [lab_range_test:A.](DEBUG): Combining 10 samples. 2021-05-18T16:45:16.530Z,1621356316.530 [lab_range_test:A.](DEBUG): Could not read vehicle position; cannot calculate contact position. 2021-05-18T16:45:16.812Z,1621356316.812 [DAT](INFO): DAT read: 16:44:50.6793 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 497, 0.16,-2.256,-2.526,-2.291,-2.328, PHS= 0.068,-0.154, 0.022, RAW= 138.6, 6.4, CAL= 139.3, 3.3, ROT= 70.7, -3.3 2021-05-18T16:45:16.813Z,1621356316.813 [DAT](INFO): got valid direction response: 16:44:50.6793 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 497, 0.16,-2.256,-2.526,-2.291,-2.328, PHS= 0.068,-0.154, 0.022, RAW= 138.6, 6.4, CAL= 139.3, 3.3, ROT= 70.7, -3.3 2021-05-18T16:45:16.814Z,1621356316.814 [DAT](INFO): #Rx 9: Read direction message, but no range. 2021-05-18T16:45:16.814Z,1621356316.814 [DAT](INFO): direction in vehicle frame: [ 0.329966 forward, 0.942236 starboard, -0.057564 keelward ] 2021-05-18T16:45:16.818Z,1621356316.818 [DAT](INFO): checking for new query: numPingsReceived=9 elapsed TxPingTime=6.077550 2021-05-18T16:45:16.825Z,1621356316.825 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:45:17.209Z,1621356317.209 [DAT](INFO): DAT read: Rx Time:16:44:51.1792 2021-05-18T16:45:17.210Z,1621356317.210 [DAT](INFO): received an acoustic signal 2021-05-18T16:45:17.211Z,1621356317.211 [DAT](INFO): DAT read: Bearing 68.2, -4.9 (Local) 2021-05-18T16:45:17.212Z,1621356317.212 [DAT](INFO): Local bearing/azimuth received: Bearing 68.2, -4.9 (Local) 2021-05-18T16:45:17.213Z,1621356317.213 [DAT](INFO): DAT read: Range 7 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0 2021-05-18T16:45:17.226Z,1621356317.226 [DAT](INFO): DAT read: 16:44:51.1792 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 496, 0.33, 2.486, 2.223, 2.462, 2.426, PHS= 0.056,-0.158, 0.021, RAW= 141.3, 8.2, CAL= 141.8, 4.9, ROT= 68.2, -4.9 2021-05-18T16:45:17.234Z,1621356317.234 [DAT](INFO): got valid direction response: 16:44:51.1792 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 496, 0.33, 2.486, 2.223, 2.462, 2.426, PHS= 0.056,-0.158, 0.021, RAW= 141.3, 8.2, CAL= 141.8, 4.9, ROT= 68.2, -4.9 2021-05-18T16:45:17.239Z,1621356317.239 [DAT](INFO): #Rx 10: Read range and direction messages. 2021-05-18T16:45:17.240Z,1621356317.240 [DAT](INFO): direction in vehicle frame: [ 0.370011 forward, 0.925092 starboard, -0.085417 keelward ] 2021-05-18T16:45:17.241Z,1621356317.241 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone 2021-05-18T16:45:17.241Z,1621356317.241 [DAT](INFO): publishing direction and range info 2021-05-18T16:45:17.309Z,1621356317.309 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:45:17.310Z,1621356317.310 [lab_range_test:A.](INFO): direction in vehicle frame: [ 0.370011 forward, 0.925092 starboard, -0.085417 keelward ] 2021-05-18T16:45:17.310Z,1621356317.310 [lab_range_test:A.](DEBUG): processing response from DAT 2021-05-18T16:45:17.352Z,1621356317.352 [lab_range_test:A.](INFO): rotationFromVehicleToNavigationFrame_ = [ 0.998962,-0.045460,-0.002813;0.045516,0.998655,0.024838;0.001681,-0.024941,0.999688 ] 2021-05-18T16:45:17.352Z,1621356317.352 [lab_range_test:A.](INFO): rangeToContact_ = 0.300000 m 2021-05-18T16:45:17.353Z,1621356317.353 [lab_range_test:A.](INFO): direction in world frame: [ 0.411589 north, 0.909158 east, -0.063454 down ] 2021-05-18T16:45:17.354Z,1621356317.354 [lab_range_test:A.](INFO): relPosInFSK: [ 0.111003 forward, 0.277528 starboard, -0.025625 keelward ] 2021-05-18T16:45:17.354Z,1621356317.354 [lab_range_test:A.](INFO): relPosInNED: [ 0.123477 north, 0.272747 east, -0.019036 down ] 2021-05-18T16:45:17.355Z,1621356317.355 [lab_range_test:A.](DEBUG): Combining 10 samples. 2021-05-18T16:45:17.355Z,1621356317.355 [lab_range_test:A.](DEBUG): Could not read vehicle position; cannot calculate contact position. 2021-05-18T16:45:17.617Z,1621356317.617 [DAT](INFO): DAT read: Rx Time:16:44:51.6792 2021-05-18T16:45:17.617Z,1621356317.617 [DAT](INFO): received an acoustic signal 2021-05-18T16:45:17.619Z,1621356317.619 [DAT](INFO): DAT read: Bearing 65.0, -8.1 (Local) 2021-05-18T16:45:17.619Z,1621356317.619 [DAT](INFO): Local bearing/azimuth received: Bearing 65.0, -8.1 (Local) 2021-05-18T16:45:17.621Z,1621356317.621 [DAT](INFO): DAT read: Range 7 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0 2021-05-18T16:45:17.626Z,1621356317.626 [DAT](INFO): DAT read: 16:44:51.6792 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 497,-0.43, 0.699, 0.380, 0.682, 0.645, PHS= 0.050,-0.221, 0.022, RAW= 144.5, 11.5, CAL= 145.0, 8.1, ROT= 65.0, -8.1 2021-05-18T16:45:17.627Z,1621356317.627 [DAT](INFO): got valid direction response: 16:44:51.6792 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 497,-0.43, 0.699, 0.380, 0.682, 0.645, PHS= 0.050,-0.221, 0.022, RAW= 144.5, 11.5, CAL= 145.0, 8.1, ROT= 65.0, -8.1 2021-05-18T16:45:17.628Z,1621356317.628 [DAT](INFO): #Rx 11: Read range and direction messages. 2021-05-18T16:45:17.629Z,1621356317.629 [DAT](INFO): direction in vehicle frame: [ 0.418402 forward, 0.897266 starboard, -0.140901 keelward ] 2021-05-18T16:45:17.629Z,1621356317.629 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone 2021-05-18T16:45:17.629Z,1621356317.629 [DAT](INFO): publishing direction and range info 2021-05-18T16:45:17.689Z,1621356317.689 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:45:17.690Z,1621356317.690 [lab_range_test:A.](INFO): direction in vehicle frame: [ 0.418402 forward, 0.897266 starboard, -0.140901 keelward ] 2021-05-18T16:45:17.690Z,1621356317.690 [lab_range_test:A.](DEBUG): processing response from DAT 2021-05-18T16:45:17.700Z,1621356317.700 [lab_range_test:A.](INFO): rotationFromVehicleToNavigationFrame_ = [ 0.998897,-0.046867,-0.002707;0.046919,0.998592,0.024729;0.001545,-0.024829,0.999691 ] 2021-05-18T16:45:17.701Z,1621356317.701 [lab_range_test:A.](INFO): rangeToContact_ = 0.300000 m 2021-05-18T16:45:17.701Z,1621356317.701 [lab_range_test:A.](INFO): direction in world frame: [ 0.459822 north, 0.879893 east, -0.119802 down ] 2021-05-18T16:45:17.702Z,1621356317.702 [lab_range_test:A.](INFO): relPosInFSK: [ 0.125521 forward, 0.269180 starboard, -0.042270 keelward ] 2021-05-18T16:45:17.715Z,1621356317.715 [lab_range_test:A.](INFO): relPosInNED: [ 0.137947 north, 0.263968 east, -0.035941 down ] 2021-05-18T16:45:17.715Z,1621356317.715 [lab_range_test:A.](DEBUG): Combining 10 samples. 2021-05-18T16:45:17.716Z,1621356317.716 [lab_range_test:A.](DEBUG): Could not read vehicle position; cannot calculate contact position. 2021-05-18T16:45:18.029Z,1621356318.029 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:45:18.430Z,1621356318.430 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:45:18.822Z,1621356318.822 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:45:19.242Z,1621356319.242 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:45:19.654Z,1621356319.654 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:45:20.062Z,1621356320.062 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:45:20.442Z,1621356320.442 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:45:20.846Z,1621356320.846 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:45:21.261Z,1621356321.261 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:45:21.674Z,1621356321.674 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:45:22.078Z,1621356322.078 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:45:22.462Z,1621356322.462 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:45:22.865Z,1621356322.865 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:45:22.866Z,1621356322.866 [lab_range_test:A.](INFO): update period (5.000000 s) has elapsed, querying... 2021-05-18T16:45:22.866Z,1621356322.866 [lab_range_test:A.](INFO): *** querying DAT *** 2021-05-18T16:45:23.262Z,1621356323.262 [DAT](INFO): ****** received valid address query ****** 2021-05-18T16:45:23.263Z,1621356323.263 [DAT](INFO): ****** received valid ping request ****** 2021-05-18T16:45:23.263Z,1621356323.263 [DAT](INFO): Querying Benthos address 50 with 10 pings in terminal homing one-way mode. 2021-05-18T16:45:23.264Z,1621356323.264 [DAT](INFO): ****** ping requested ****** 2021-05-18T16:45:23.306Z,1621356323.306 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:45:23.667Z,1621356323.667 [DAT](INFO): DAT read: user:16> 2021-05-18T16:45:23.668Z,1621356323.668 [DAT](INFO): DAT read: Tx time:16:44:57.9995 2021-05-18T16:45:23.669Z,1621356323.669 [DAT](INFO): Ping request sent. 2021-05-18T16:45:23.669Z,1621356323.669 [DAT](INFO): transmitted an acoustic signal 2021-05-18T16:45:23.669Z,1621356323.669 [DAT](INFO): publishing transmit ping time 2021-05-18T16:45:23.670Z,1621356323.670 [DAT](INFO): checking for new query: numPingsReceived=0 elapsed TxPingTime=0.001135 2021-05-18T16:45:23.681Z,1621356323.681 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:45:24.070Z,1621356324.070 [DAT](INFO): checking for new query: numPingsReceived=0 elapsed TxPingTime=0.401255 2021-05-18T16:45:24.081Z,1621356324.081 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:45:24.481Z,1621356324.481 [DAT](INFO): checking for new query: numPingsReceived=0 elapsed TxPingTime=0.812359 2021-05-18T16:45:24.493Z,1621356324.493 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:45:24.893Z,1621356324.893 [DAT](INFO): checking for new query: numPingsReceived=0 elapsed TxPingTime=1.224449 2021-05-18T16:45:24.922Z,1621356324.922 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:45:25.289Z,1621356325.289 [DAT](INFO): checking for new query: numPingsReceived=0 elapsed TxPingTime=1.619983 2021-05-18T16:45:25.329Z,1621356325.329 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:45:25.687Z,1621356325.687 [DAT](INFO): checking for new query: numPingsReceived=0 elapsed TxPingTime=2.018462 2021-05-18T16:45:25.694Z,1621356325.694 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:45:26.091Z,1621356326.091 [DAT](INFO): DAT read: Rx Time:16:45:00.1292 2021-05-18T16:45:26.091Z,1621356326.091 [DAT](INFO): received an acoustic signal 2021-05-18T16:45:26.092Z,1621356326.092 [DAT](INFO): DAT read: Bearing 65.1, -8.0 (Local) 2021-05-18T16:45:26.093Z,1621356326.093 [DAT](INFO): Local bearing/azimuth received: Bearing 65.1, -8.0 (Local) 2021-05-18T16:45:26.095Z,1621356326.095 [DAT](INFO): DAT read: Range 7 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0 2021-05-18T16:45:26.140Z,1621356326.140 [DAT](INFO): DAT read: 16:45:00.1292 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 209,-0.29, 3.104, 2.779, 3.085, 3.048, PHS= 0.052,-0.225, 0.023, RAW= 144.4, 11.4, CAL= 144.9, 8.0, ROT= 65.1, -8.0 2021-05-18T16:45:26.141Z,1621356326.141 [DAT](INFO): got valid direction response: 16:45:00.1292 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 209,-0.29, 3.104, 2.779, 3.085, 3.048, PHS= 0.052,-0.225, 0.023, RAW= 144.4, 11.4, CAL= 144.9, 8.0, ROT= 65.1, -8.0 2021-05-18T16:45:26.142Z,1621356326.142 [DAT](INFO): #Rx 1: Read range and direction messages. 2021-05-18T16:45:26.143Z,1621356326.143 [DAT](INFO): direction in vehicle frame: [ 0.416938 forward, 0.898217 starboard, -0.139173 keelward ] 2021-05-18T16:45:26.163Z,1621356326.163 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone 2021-05-18T16:45:26.163Z,1621356326.163 [DAT](INFO): publishing direction and range info 2021-05-18T16:45:26.166Z,1621356326.166 [DAT](INFO): checking for new query: numPingsReceived=1 elapsed TxPingTime=2.497478 2021-05-18T16:45:26.190Z,1621356326.190 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:45:26.215Z,1621356326.215 [lab_range_test:A.](INFO): direction in vehicle frame: [ 0.416938 forward, 0.898217 starboard, -0.139173 keelward ] 2021-05-18T16:45:26.215Z,1621356326.215 [lab_range_test:A.](DEBUG): processing response from DAT 2021-05-18T16:45:26.217Z,1621356326.217 [lab_range_test:A.](INFO): rotationFromVehicleToNavigationFrame_ = [ 0.998891,-0.047004,-0.002804;0.047059,0.998586,0.024715;0.001639,-0.024820,0.999691 ] 2021-05-18T16:45:26.218Z,1621356326.218 [lab_range_test:A.](INFO): rangeToContact_ = 0.500000 m 2021-05-18T16:45:26.219Z,1621356326.219 [lab_range_test:A.](INFO): direction in world frame: [ 0.458517 north, 0.880804 east, -0.118100 down ] 2021-05-18T16:45:26.228Z,1621356326.228 [lab_range_test:A.](INFO): relPosInFSK: [ 0.208469 forward, 0.449108 starboard, -0.069587 keelward ] 2021-05-18T16:45:26.228Z,1621356326.228 [lab_range_test:A.](INFO): relPosInNED: [ 0.229258 north, 0.440402 east, -0.059050 down ] 2021-05-18T16:45:26.229Z,1621356326.229 [lab_range_test:A.](DEBUG): Combining 10 samples. 2021-05-18T16:45:26.229Z,1621356326.229 [lab_range_test:A.](DEBUG): Could not read vehicle position; cannot calculate contact position. 2021-05-18T16:45:26.491Z,1621356326.491 [DAT](INFO): DAT read: Rx Time:16:45:00.6291 2021-05-18T16:45:26.491Z,1621356326.491 [DAT](INFO): received an acoustic signal 2021-05-18T16:45:26.493Z,1621356326.493 [DAT](INFO): DAT read: Bearing 65.5, -8.4 (Local) 2021-05-18T16:45:26.493Z,1621356326.493 [DAT](INFO): Local bearing/azimuth received: Bearing 65.5, -8.4 (Local) 2021-05-18T16:45:26.495Z,1621356326.495 [DAT](INFO): DAT read: Range 7 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0 2021-05-18T16:45:26.500Z,1621356326.500 [DAT](INFO): DAT read: 16:45:00.6291 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 496,-0.17, 2.298, 1.962, 2.276, 2.240, PHS= 0.053,-0.234, 0.020, RAW= 144.0, 11.8, CAL= 144.5, 8.4, ROT= 65.5, -8.4 2021-05-18T16:45:26.501Z,1621356326.501 [DAT](INFO): got valid direction response: 16:45:00.6291 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 496,-0.17, 2.298, 1.962, 2.276, 2.240, PHS= 0.053,-0.234, 0.020, RAW= 144.0, 11.8, CAL= 144.5, 8.4, ROT= 65.5, -8.4 2021-05-18T16:45:26.501Z,1621356326.501 [DAT](INFO): #Rx 2: Read range and direction messages. 2021-05-18T16:45:26.505Z,1621356326.505 [DAT](INFO): direction in vehicle frame: [ 0.410245 forward, 0.900199 starboard, -0.146083 keelward ] 2021-05-18T16:45:26.506Z,1621356326.506 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone 2021-05-18T16:45:26.506Z,1621356326.506 [DAT](INFO): publishing direction and range info 2021-05-18T16:45:26.510Z,1621356326.510 [DAT](INFO): checking for new query: numPingsReceived=2 elapsed TxPingTime=2.841543 2021-05-18T16:45:26.518Z,1621356326.518 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:45:26.519Z,1621356326.519 [lab_range_test:A.](INFO): direction in vehicle frame: [ 0.410245 forward, 0.900199 starboard, -0.146083 keelward ] 2021-05-18T16:45:26.519Z,1621356326.519 [lab_range_test:A.](DEBUG): processing response from DAT 2021-05-18T16:45:26.521Z,1621356326.521 [lab_range_test:A.](INFO): rotationFromVehicleToNavigationFrame_ = [ 0.998937,-0.046002,-0.002795;0.046058,0.998630,0.024829;0.001649,-0.024931,0.999688 ] 2021-05-18T16:45:26.522Z,1621356326.522 [lab_range_test:A.](INFO): rangeToContact_ = 0.300000 m 2021-05-18T16:45:26.522Z,1621356326.522 [lab_range_test:A.](INFO): direction in world frame: [ 0.451029 north, 0.883736 east, -0.124833 down ] 2021-05-18T16:45:26.523Z,1621356326.523 [lab_range_test:A.](INFO): relPosInFSK: [ 0.123073 forward, 0.270060 starboard, -0.043825 keelward ] 2021-05-18T16:45:26.524Z,1621356326.524 [lab_range_test:A.](INFO): relPosInNED: [ 0.135309 north, 0.265121 east, -0.037450 down ] 2021-05-18T16:45:26.524Z,1621356326.524 [lab_range_test:A.](DEBUG): Combining 10 samples. 2021-05-18T16:45:26.524Z,1621356326.524 [lab_range_test:A.](DEBUG): Could not read vehicle position; cannot calculate contact position. 2021-05-18T16:45:26.912Z,1621356326.912 [DAT](INFO): DAT read: Rx Time:16:45:01.1292 2021-05-18T16:45:26.912Z,1621356326.912 [DAT](INFO): received an acoustic signal 2021-05-18T16:45:26.913Z,1621356326.913 [DAT](INFO): DAT read: Bearing 65.0, -7.9 (Local) 2021-05-18T16:45:26.914Z,1621356326.914 [DAT](INFO): Local bearing/azimuth received: Bearing 65.0, -7.9 (Local) 2021-05-18T16:45:26.940Z,1621356326.940 [DAT](INFO): DAT read: Range 7 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0 2021-05-18T16:45:26.953Z,1621356326.953 [DAT](INFO): DAT read: 16:45:01.1292 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 497,-0.02,-2.525,-2.824,-2.541,-2.577, PHS= 0.047,-0.204, 0.021, RAW= 144.5, 11.3, CAL= 145.0, 7.9, ROT= 65.0, -7.9 2021-05-18T16:45:26.954Z,1621356326.954 [DAT](INFO): got valid direction response: 16:45:01.1292 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 497,-0.02,-2.525,-2.824,-2.541,-2.577, PHS= 0.047,-0.204, 0.021, RAW= 144.5, 11.3, CAL= 145.0, 7.9, ROT= 65.0, -7.9 2021-05-18T16:45:26.956Z,1621356326.956 [DAT](INFO): #Rx 3: Read range and direction messages. 2021-05-18T16:45:26.956Z,1621356326.956 [DAT](INFO): direction in vehicle frame: [ 0.418607 forward, 0.897706 starboard, -0.137445 keelward ] 2021-05-18T16:45:26.957Z,1621356326.957 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone 2021-05-18T16:45:26.957Z,1621356326.957 [DAT](INFO): publishing direction and range info 2021-05-18T16:45:26.964Z,1621356326.964 [DAT](INFO): checking for new query: numPingsReceived=3 elapsed TxPingTime=3.295443 2021-05-18T16:45:26.988Z,1621356326.988 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:45:26.989Z,1621356326.989 [lab_range_test:A.](INFO): direction in vehicle frame: [ 0.418607 forward, 0.897706 starboard, -0.137445 keelward ] 2021-05-18T16:45:26.989Z,1621356326.989 [lab_range_test:A.](DEBUG): processing response from DAT 2021-05-18T16:45:26.000Z,1621356327.000 [lab_range_test:A.](INFO): rotationFromVehicleToNavigationFrame_ = [ 0.998900,-0.046800,-0.002771;0.046854,0.998596,0.024722;0.001611,-0.024825,0.999691 ] 2021-05-18T16:45:27.000Z,1621356327.000 [lab_range_test:A.](INFO): rangeToContact_ = 0.500000 m 2021-05-18T16:45:27.001Z,1621356327.001 [lab_range_test:A.](INFO): direction in world frame: [ 0.459987 north, 0.880267 east, -0.116369 down ] 2021-05-18T16:45:27.002Z,1621356327.002 [lab_range_test:A.](INFO): relPosInFSK: [ 0.209304 forward, 0.448853 starboard, -0.068722 keelward ] 2021-05-18T16:45:27.002Z,1621356327.002 [lab_range_test:A.](INFO): relPosInNED: [ 0.229994 north, 0.440134 east, -0.058184 down ] 2021-05-18T16:45:27.015Z,1621356327.015 [lab_range_test:A.](DEBUG): Combining 10 samples. 2021-05-18T16:45:27.015Z,1621356327.015 [lab_range_test:A.](DEBUG): Could not read vehicle position; cannot calculate contact position. 2021-05-18T16:45:27.321Z,1621356327.321 [DAT](INFO): checking for new query: numPingsReceived=3 elapsed TxPingTime=3.652129 2021-05-18T16:45:27.394Z,1621356327.394 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:45:27.720Z,1621356327.720 [DAT](INFO): DAT read: Rx Time:16:45:01.6291 2021-05-18T16:45:27.720Z,1621356327.720 [DAT](INFO): received an acoustic signal 2021-05-18T16:45:27.722Z,1621356327.722 [DAT](INFO): DAT read: Bearing 66.6, -6.9 (Local) 2021-05-18T16:45:27.722Z,1621356327.722 [DAT](INFO): Local bearing/azimuth received: Bearing 66.6, -6.9 (Local) 2021-05-18T16:45:27.724Z,1621356327.724 [DAT](INFO): DAT read: Range 7 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0 2021-05-18T16:45:27.729Z,1621356327.729 [DAT](INFO): DAT read: 16:45:01.6291 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 496, 0.06,-1.938,-2.198,-1.955,-1.988, PHS= 0.046,-0.166, 0.018, RAW= 142.9, 10.2, CAL= 143.4, 6.9, ROT= 66.6, -6.9 2021-05-18T16:45:27.730Z,1621356327.730 [DAT](INFO): got valid direction response: 16:45:01.6291 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 496, 0.06,-1.938,-2.198,-1.955,-1.988, PHS= 0.046,-0.166, 0.018, RAW= 142.9, 10.2, CAL= 143.4, 6.9, ROT= 66.6, -6.9 2021-05-18T16:45:27.730Z,1621356327.730 [DAT](INFO): #Rx 4: Read range and direction messages. 2021-05-18T16:45:27.732Z,1621356327.732 [DAT](INFO): direction in vehicle frame: [ 0.394271 forward, 0.911108 starboard, -0.120137 keelward ] 2021-05-18T16:45:27.732Z,1621356327.732 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone 2021-05-18T16:45:27.732Z,1621356327.732 [DAT](INFO): publishing direction and range info 2021-05-18T16:45:27.735Z,1621356327.735 [DAT](INFO): checking for new query: numPingsReceived=4 elapsed TxPingTime=4.066110 2021-05-18T16:45:27.742Z,1621356327.742 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:45:27.744Z,1621356327.744 [lab_range_test:A.](INFO): direction in vehicle frame: [ 0.394271 forward, 0.911108 starboard, -0.120137 keelward ] 2021-05-18T16:45:27.744Z,1621356327.744 [lab_range_test:A.](DEBUG): processing response from DAT 2021-05-18T16:45:27.746Z,1621356327.746 [lab_range_test:A.](INFO): rotationFromVehicleToNavigationFrame_ = [ 0.998873,-0.047377,-0.002776;0.047431,0.998569,0.024703;0.001602,-0.024807,0.999691 ] 2021-05-18T16:45:27.746Z,1621356327.746 [lab_range_test:A.](INFO): rangeToContact_ = 0.300000 m 2021-05-18T16:45:27.747Z,1621356327.747 [lab_range_test:A.](INFO): direction in world frame: [ 0.436849 north, 0.894105 east, -0.098687 down ] 2021-05-18T16:45:27.748Z,1621356327.748 [lab_range_test:A.](INFO): relPosInFSK: [ 0.118281 forward, 0.273332 starboard, -0.036041 keelward ] 2021-05-18T16:45:27.749Z,1621356327.749 [lab_range_test:A.](INFO): relPosInNED: [ 0.131055 north, 0.268231 east, -0.029606 down ] 2021-05-18T16:45:27.749Z,1621356327.749 [lab_range_test:A.](DEBUG): Combining 10 samples. 2021-05-18T16:45:27.749Z,1621356327.749 [lab_range_test:A.](DEBUG): Could not read vehicle position; cannot calculate contact position. 2021-05-18T16:45:28.118Z,1621356328.118 [DAT](INFO): DAT read: Rx Time:16:45:02.1291 2021-05-18T16:45:28.118Z,1621356328.118 [DAT](INFO): received an acoustic signal 2021-05-18T16:45:28.120Z,1621356328.120 [DAT](INFO): DAT read: Bearing 66.4, -6.3 (Local) 2021-05-18T16:45:28.120Z,1621356328.120 [DAT](INFO): Local bearing/azimuth received: Bearing 66.4, -6.3 (Local) 2021-05-18T16:45:28.122Z,1621356328.122 [DAT](INFO): DAT read: Range 7 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0 2021-05-18T16:45:28.127Z,1621356328.127 [DAT](INFO): DAT read: 16:45:02.1291 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 496, 0.20,-2.351,-2.611,-2.367,-2.403, PHS= 0.048,-0.164, 0.020, RAW= 143.2, 9.7, CAL= 143.6, 6.3, ROT= 66.4, -6.3 2021-05-18T16:45:28.128Z,1621356328.128 [DAT](INFO): got valid direction response: 16:45:02.1291 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 496, 0.20,-2.351,-2.611,-2.367,-2.403, PHS= 0.048,-0.164, 0.020, RAW= 143.2, 9.7, CAL= 143.6, 6.3, ROT= 66.4, -6.3 2021-05-18T16:45:28.129Z,1621356328.129 [DAT](INFO): #Rx 5: Read range and direction messages. 2021-05-18T16:45:28.130Z,1621356328.130 [DAT](INFO): direction in vehicle frame: [ 0.397931 forward, 0.910829 starboard, -0.109734 keelward ] 2021-05-18T16:45:28.130Z,1621356328.130 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone 2021-05-18T16:45:28.130Z,1621356328.130 [DAT](INFO): publishing direction and range info 2021-05-18T16:45:28.133Z,1621356328.133 [DAT](INFO): checking for new query: numPingsReceived=5 elapsed TxPingTime=4.464309 2021-05-18T16:45:28.186Z,1621356328.186 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:45:28.211Z,1621356328.211 [lab_range_test:A.](INFO): direction in vehicle frame: [ 0.397931 forward, 0.910829 starboard, -0.109734 keelward ] 2021-05-18T16:45:28.211Z,1621356328.211 [lab_range_test:A.](DEBUG): processing response from DAT 2021-05-18T16:45:28.213Z,1621356328.213 [lab_range_test:A.](INFO): rotationFromVehicleToNavigationFrame_ = [ 0.998912,-0.046539,-0.002818;0.046595,0.998607,0.024778;0.001661,-0.024882,0.999689 ] 2021-05-18T16:45:28.214Z,1621356328.214 [lab_range_test:A.](INFO): rangeToContact_ = 0.300000 m 2021-05-18T16:45:28.215Z,1621356328.215 [lab_range_test:A.](INFO): direction in world frame: [ 0.439756 north, 0.893770 east, -0.088253 down ] 2021-05-18T16:45:28.228Z,1621356328.228 [lab_range_test:A.](INFO): relPosInFSK: [ 0.119379 forward, 0.273249 starboard, -0.032920 keelward ] 2021-05-18T16:45:28.228Z,1621356328.228 [lab_range_test:A.](INFO): relPosInNED: [ 0.131927 north, 0.268131 east, -0.026476 down ] 2021-05-18T16:45:28.229Z,1621356328.229 [lab_range_test:A.](DEBUG): Combining 10 samples. 2021-05-18T16:45:28.229Z,1621356328.229 [lab_range_test:A.](DEBUG): Could not read vehicle position; cannot calculate contact position. 2021-05-18T16:45:28.521Z,1621356328.521 [DAT](INFO): DAT read: Rx Time:16:45:02.6291 2021-05-18T16:45:28.522Z,1621356328.522 [DAT](INFO): received an acoustic signal 2021-05-18T16:45:28.523Z,1621356328.523 [DAT](INFO): DAT read: Bearing 67.6, -5.8 (Local) 2021-05-18T16:45:28.523Z,1621356328.523 [DAT](INFO): Local bearing/azimuth received: Bearing 67.6, -5.8 (Local) 2021-05-18T16:45:28.525Z,1621356328.525 [DAT](INFO): DAT read: Range 7 to 50 : 0.2 m (trip time 0.1 ms) speed 0.0 2021-05-18T16:45:28.530Z,1621356328.530 [DAT](INFO): DAT read: 16:45:02.6291 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 495, 0.32, 3.131, 2.856, 3.107, 3.071, PHS= 0.055,-0.171, 0.021, RAW= 141.9, 9.1, CAL= 142.4, 5.8, ROT= 67.6, -5.8 2021-05-18T16:45:28.532Z,1621356328.532 [DAT](INFO): got valid direction response: 16:45:02.6291 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 495, 0.32, 3.131, 2.856, 3.107, 3.071, PHS= 0.055,-0.171, 0.021, RAW= 141.9, 9.1, CAL= 142.4, 5.8, ROT= 67.6, -5.8 2021-05-18T16:45:28.532Z,1621356328.532 [DAT](INFO): #Rx 6: Read range and direction messages. 2021-05-18T16:45:28.533Z,1621356328.533 [DAT](INFO): direction in vehicle frame: [ 0.379120 forward, 0.919813 starboard, -0.101056 keelward ] 2021-05-18T16:45:28.533Z,1621356328.533 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone 2021-05-18T16:45:28.533Z,1621356328.533 [DAT](INFO): publishing direction and range info 2021-05-18T16:45:28.559Z,1621356328.559 [DAT](INFO): checking for new query: numPingsReceived=6 elapsed TxPingTime=4.890589 2021-05-18T16:45:28.583Z,1621356328.583 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:45:28.584Z,1621356328.584 [lab_range_test:A.](INFO): direction in vehicle frame: [ 0.379120 forward, 0.919813 starboard, -0.101056 keelward ] 2021-05-18T16:45:28.584Z,1621356328.584 [lab_range_test:A.](DEBUG): processing response from DAT 2021-05-18T16:45:28.586Z,1621356328.586 [lab_range_test:A.](INFO): rotationFromVehicleToNavigationFrame_ = [ 0.998900,-0.046822,-0.002597;0.046872,0.998593,0.024810;0.001431,-0.024904,0.999689 ] 2021-05-18T16:45:28.595Z,1621356328.595 [lab_range_test:A.](INFO): rangeToContact_ = 0.200000 m 2021-05-18T16:45:28.596Z,1621356328.596 [lab_range_test:A.](INFO): direction in world frame: [ 0.421672 north, 0.903284 east, -0.079189 down ] 2021-05-18T16:45:28.596Z,1621356328.596 [lab_range_test:A.](INFO): relPosInFSK: [ 0.075824 forward, 0.183963 starboard, -0.020211 keelward ] 2021-05-18T16:45:28.597Z,1621356328.597 [lab_range_test:A.](INFO): relPosInNED: [ 0.084334 north, 0.180657 east, -0.015838 down ] 2021-05-18T16:45:28.598Z,1621356328.598 [lab_range_test:A.](DEBUG): Combining 10 samples. 2021-05-18T16:45:28.598Z,1621356328.598 [lab_range_test:A.](DEBUG): Could not read vehicle position; cannot calculate contact position. 2021-05-18T16:45:28.923Z,1621356328.923 [DAT](INFO): DAT read: Rx Time:16:45:03.1291 2021-05-18T16:45:28.923Z,1621356328.923 [DAT](INFO): received an acoustic signal 2021-05-18T16:45:28.925Z,1621356328.925 [DAT](INFO): DAT read: Bearing 67.3, -6.9 (Local) 2021-05-18T16:45:28.925Z,1621356328.925 [DAT](INFO): Local bearing/azimuth received: Bearing 67.3, -6.9 (Local) 2021-05-18T16:45:28.927Z,1621356328.927 [DAT](INFO): DAT read: Range 7 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0 2021-05-18T16:45:28.932Z,1621356328.932 [DAT](INFO): DAT read: 16:45:03.1291 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 1,-0.46,-3.136, 2.821, 3.118, 3.081, PHS= 0.062,-0.217, 0.021, RAW= 142.2, 10.2, CAL= 142.7, 6.9, ROT= 67.3, -6.9 2021-05-18T16:45:28.933Z,1621356328.933 [DAT](INFO): got valid direction response: 16:45:03.1291 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 1,-0.46,-3.136, 2.821, 3.118, 3.081, PHS= 0.062,-0.217, 0.021, RAW= 142.2, 10.2, CAL= 142.7, 6.9, ROT= 67.3, -6.9 2021-05-18T16:45:28.933Z,1621356328.933 [DAT](INFO): #Rx 7: Read range and direction messages. 2021-05-18T16:45:28.934Z,1621356328.934 [DAT](INFO): direction in vehicle frame: [ 0.383111 forward, 0.915856 starboard, -0.120137 keelward ] 2021-05-18T16:45:28.935Z,1621356328.935 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone 2021-05-18T16:45:28.935Z,1621356328.935 [DAT](INFO): publishing direction and range info 2021-05-18T16:45:28.938Z,1621356328.938 [DAT](INFO): checking for new query: numPingsReceived=7 elapsed TxPingTime=5.269248 2021-05-18T16:45:28.988Z,1621356328.988 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:45:28.989Z,1621356328.989 [lab_range_test:A.](INFO): direction in vehicle frame: [ 0.383111 forward, 0.915856 starboard, -0.120137 keelward ] 2021-05-18T16:45:28.989Z,1621356328.989 [lab_range_test:A.](DEBUG): processing response from DAT 2021-05-18T16:45:28.000Z,1621356329.000 [lab_range_test:A.](INFO): rotationFromVehicleToNavigationFrame_ = [ 0.998888,-0.047061,-0.002709;0.047114,0.998582,0.024785;0.001538,-0.024885,0.999689 ] 2021-05-18T16:45:29.000Z,1621356329.000 [lab_range_test:A.](INFO): rangeToContact_ = 0.300000 m 2021-05-18T16:45:29.001Z,1621356329.001 [lab_range_test:A.](INFO): direction in world frame: [ 0.425650 north, 0.899518 east, -0.098437 down ] 2021-05-18T16:45:29.002Z,1621356329.002 [lab_range_test:A.](INFO): relPosInFSK: [ 0.114933 forward, 0.274757 starboard, -0.036041 keelward ] 2021-05-18T16:45:29.002Z,1621356329.002 [lab_range_test:A.](INFO): relPosInNED: [ 0.127695 north, 0.269855 east, -0.029531 down ] 2021-05-18T16:45:29.003Z,1621356329.003 [lab_range_test:A.](DEBUG): Combining 10 samples. 2021-05-18T16:45:29.011Z,1621356329.011 [lab_range_test:A.](DEBUG): Could not read vehicle position; cannot calculate contact position. 2021-05-18T16:45:29.328Z,1621356329.328 [DAT](INFO): checking for new query: numPingsReceived=7 elapsed TxPingTime=5.658702 2021-05-18T16:45:29.391Z,1621356329.391 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:45:29.732Z,1621356329.732 [DAT](INFO): DAT read: Rx Time:16:45:03.6291 2021-05-18T16:45:29.732Z,1621356329.732 [DAT](INFO): received an acoustic signal 2021-05-18T16:45:29.733Z,1621356329.733 [DAT](INFO): DAT read: Bearing 65.6, -8.3 (Local) 2021-05-18T16:45:29.734Z,1621356329.734 [DAT](INFO): Local bearing/azimuth received: Bearing 65.6, -8.3 (Local) 2021-05-18T16:45:29.736Z,1621356329.736 [DAT](INFO): DAT read: Range 7 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0 2021-05-18T16:45:29.741Z,1621356329.741 [DAT](INFO): DAT read: 16:45:03.6291 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 496,-0.27, 1.590, 1.263, 1.568, 1.534, PHS= 0.053,-0.227, 0.020, RAW= 143.8, 11.7, CAL= 144.4, 8.3, ROT= 65.6, -8.3 2021-05-18T16:45:29.742Z,1621356329.742 [DAT](INFO): got valid direction response: 16:45:03.6291 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 496,-0.27, 1.590, 1.263, 1.568, 1.534, PHS= 0.053,-0.227, 0.020, RAW= 143.8, 11.7, CAL= 144.4, 8.3, ROT= 65.6, -8.3 2021-05-18T16:45:29.742Z,1621356329.742 [DAT](INFO): #Rx 8: Read range and direction messages. 2021-05-18T16:45:29.743Z,1621356329.743 [DAT](INFO): direction in vehicle frame: [ 0.408778 forward, 0.901145 starboard, -0.144356 keelward ] 2021-05-18T16:45:29.744Z,1621356329.744 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone 2021-05-18T16:45:29.744Z,1621356329.744 [DAT](INFO): publishing direction and range info 2021-05-18T16:45:29.747Z,1621356329.747 [DAT](INFO): checking for new query: numPingsReceived=8 elapsed TxPingTime=6.078051 2021-05-18T16:45:29.754Z,1621356329.754 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:45:29.792Z,1621356329.792 [lab_range_test:A.](INFO): direction in vehicle frame: [ 0.408778 forward, 0.901145 starboard, -0.144356 keelward ] 2021-05-18T16:45:29.792Z,1621356329.792 [lab_range_test:A.](DEBUG): processing response from DAT 2021-05-18T16:45:29.794Z,1621356329.794 [lab_range_test:A.](INFO): rotationFromVehicleToNavigationFrame_ = [ 0.998947,-0.045803,-0.002741;0.045858,0.998638,0.024887;0.001598,-0.024986,0.999687 ] 2021-05-18T16:45:29.794Z,1621356329.794 [lab_range_test:A.](INFO): rangeToContact_ = 0.300000 m 2021-05-18T16:45:29.795Z,1621356329.795 [lab_range_test:A.](INFO): direction in world frame: [ 0.449441 north, 0.884801 east, -0.123005 down ] 2021-05-18T16:45:29.796Z,1621356329.796 [lab_range_test:A.](INFO): relPosInFSK: [ 0.122633 forward, 0.270343 starboard, -0.043307 keelward ] 2021-05-18T16:45:29.797Z,1621356329.797 [lab_range_test:A.](INFO): relPosInNED: [ 0.134832 north, 0.265440 east, -0.036902 down ] 2021-05-18T16:45:29.797Z,1621356329.797 [lab_range_test:A.](DEBUG): Combining 10 samples. 2021-05-18T16:45:29.797Z,1621356329.797 [lab_range_test:A.](DEBUG): Could not read vehicle position; cannot calculate contact position. 2021-05-18T16:45:30.139Z,1621356330.139 [DAT](INFO): DAT read: Rx Time:16:45:04.1292 2021-05-18T16:45:30.139Z,1621356330.139 [DAT](INFO): received an acoustic signal 2021-05-18T16:45:30.141Z,1621356330.141 [DAT](INFO): DAT read: Bearing 64.7, -8.3 (Local) 2021-05-18T16:45:30.141Z,1621356330.141 [DAT](INFO): Local bearing/azimuth received: Bearing 64.7, -8.3 (Local) 2021-05-18T16:45:30.172Z,1621356330.172 [DAT](INFO): DAT read: Range 7 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0 2021-05-18T16:45:30.185Z,1621356330.185 [DAT](INFO): DAT read: 16:45:04.1292 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 497,-0.09, 2.431, 2.119, 2.416, 2.379, PHS= 0.048,-0.217, 0.021, RAW= 144.8, 11.7, CAL= 145.3, 8.3, ROT= 64.7, -8.3 2021-05-18T16:45:30.186Z,1621356330.186 [DAT](INFO): got valid direction response: 16:45:04.1292 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 497,-0.09, 2.431, 2.119, 2.416, 2.379, PHS= 0.048,-0.217, 0.021, RAW= 144.8, 11.7, CAL= 145.3, 8.3, ROT= 64.7, -8.3 2021-05-18T16:45:30.195Z,1621356330.195 [DAT](INFO): #Rx 9: Read range and direction messages. 2021-05-18T16:45:30.196Z,1621356330.196 [DAT](INFO): direction in vehicle frame: [ 0.422882 forward, 0.894613 starboard, -0.144356 keelward ] 2021-05-18T16:45:30.196Z,1621356330.196 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone 2021-05-18T16:45:30.196Z,1621356330.196 [DAT](INFO): publishing direction and range info 2021-05-18T16:45:30.208Z,1621356330.208 [DAT](INFO): checking for new query: numPingsReceived=9 elapsed TxPingTime=6.538927 2021-05-18T16:45:30.231Z,1621356330.231 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:45:30.232Z,1621356330.232 [lab_range_test:A.](INFO): direction in vehicle frame: [ 0.422882 forward, 0.894613 starboard, -0.144356 keelward ] 2021-05-18T16:45:30.233Z,1621356330.233 [lab_range_test:A.](DEBUG): processing response from DAT 2021-05-18T16:45:30.235Z,1621356330.235 [lab_range_test:A.](INFO): rotationFromVehicleToNavigationFrame_ = [ 0.998856,-0.047748,-0.002714;0.047801,0.998552,0.024693;0.001531,-0.024795,0.999691 ] 2021-05-18T16:45:30.243Z,1621356330.243 [lab_range_test:A.](INFO): rangeToContact_ = 0.500000 m 2021-05-18T16:45:30.244Z,1621356330.244 [lab_range_test:A.](INFO): direction in world frame: [ 0.464940 north, 0.876705 east, -0.123368 down ] 2021-05-18T16:45:30.245Z,1621356330.245 [lab_range_test:A.](INFO): relPosInFSK: [ 0.211441 forward, 0.447306 starboard, -0.072178 keelward ] 2021-05-18T16:45:30.246Z,1621356330.246 [lab_range_test:A.](INFO): relPosInNED: [ 0.232470 north, 0.438352 east, -0.061684 down ] 2021-05-18T16:45:30.246Z,1621356330.246 [lab_range_test:A.](DEBUG): Combining 10 samples. 2021-05-18T16:45:30.246Z,1621356330.246 [lab_range_test:A.](DEBUG): Could not read vehicle position; cannot calculate contact position. 2021-05-18T16:45:30.557Z,1621356330.557 [DAT](INFO): DAT read: Rx Time:16:45:04.6291 2021-05-18T16:45:30.558Z,1621356330.558 [DAT](INFO): received an acoustic signal 2021-05-18T16:45:30.559Z,1621356330.559 [DAT](INFO): DAT read: Bearing 66.5, -7.3 (Local) 2021-05-18T16:45:30.559Z,1621356330.559 [DAT](INFO): Local bearing/azimuth received: Bearing 66.5, -7.3 (Local) 2021-05-18T16:45:30.561Z,1621356330.561 [DAT](INFO): DAT read: Range 7 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0 2021-05-18T16:45:30.566Z,1621356330.566 [DAT](INFO): DAT read: 16:45:04.6291 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 496,-0.01, 2.320, 2.015, 2.297, 2.262, PHS= 0.054,-0.203, 0.020, RAW= 143.0, 10.7, CAL= 143.5, 7.3, ROT= 66.5, -7.3 2021-05-18T16:45:30.568Z,1621356330.568 [DAT](INFO): got valid direction response: 16:45:04.6291 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 496,-0.01, 2.320, 2.015, 2.297, 2.262, PHS= 0.054,-0.203, 0.020, RAW= 143.0, 10.7, CAL= 143.5, 7.3, ROT= 66.5, -7.3 2021-05-18T16:45:30.568Z,1621356330.568 [DAT](INFO): #Rx 10: Read range and direction messages. 2021-05-18T16:45:30.569Z,1621356330.569 [DAT](INFO): direction in vehicle frame: [ 0.395517 forward, 0.909627 starboard, -0.127065 keelward ] 2021-05-18T16:45:30.569Z,1621356330.569 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone 2021-05-18T16:45:30.570Z,1621356330.570 [DAT](INFO): publishing direction and range info 2021-05-18T16:45:30.580Z,1621356330.580 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:45:30.581Z,1621356330.581 [lab_range_test:A.](INFO): direction in vehicle frame: [ 0.395517 forward, 0.909627 starboard, -0.127065 keelward ] 2021-05-18T16:45:30.581Z,1621356330.581 [lab_range_test:A.](DEBUG): processing response from DAT 2021-05-18T16:45:30.583Z,1621356330.583 [lab_range_test:A.](INFO): rotationFromVehicleToNavigationFrame_ = [ 0.998866,-0.047530,-0.002706;0.047582,0.998561,0.024731;0.001527,-0.024831,0.999691 ] 2021-05-18T16:45:30.584Z,1621356330.584 [lab_range_test:A.](INFO): rangeToContact_ = 0.300000 m 2021-05-18T16:45:30.585Z,1621356330.585 [lab_range_test:A.](INFO): direction in world frame: [ 0.438156 north, 0.892674 east, -0.105600 down ] 2021-05-18T16:45:30.585Z,1621356330.585 [lab_range_test:A.](INFO): relPosInFSK: [ 0.118655 forward, 0.272888 starboard, -0.038119 keelward ] 2021-05-18T16:45:30.586Z,1621356330.586 [lab_range_test:A.](INFO): relPosInNED: [ 0.131447 north, 0.267802 east, -0.031680 down ] 2021-05-18T16:45:30.586Z,1621356330.586 [lab_range_test:A.](DEBUG): Combining 10 samples. 2021-05-18T16:45:30.586Z,1621356330.586 [lab_range_test:A.](DEBUG): Could not read vehicle position; cannot calculate contact position. 2021-05-18T16:45:30.961Z,1621356330.961 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:45:31.365Z,1621356331.365 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:45:31.762Z,1621356331.762 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:45:32.173Z,1621356332.173 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:45:32.562Z,1621356332.562 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:45:32.969Z,1621356332.969 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:45:33.385Z,1621356333.385 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:45:33.788Z,1621356333.788 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:45:34.210Z,1621356334.210 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:45:34.581Z,1621356334.581 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:45:34.988Z,1621356334.988 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:45:35.403Z,1621356335.403 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:45:35.794Z,1621356335.794 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:45:35.795Z,1621356335.795 [lab_range_test:A.](INFO): update period (5.000000 s) has elapsed, querying... 2021-05-18T16:45:35.795Z,1621356335.795 [lab_range_test:A.](INFO): *** querying DAT *** 2021-05-18T16:45:36.194Z,1621356336.194 [DAT](INFO): ****** received valid address query ****** 2021-05-18T16:45:36.194Z,1621356336.194 [DAT](INFO): ****** received valid ping request ****** 2021-05-18T16:45:36.194Z,1621356336.194 [DAT](INFO): Querying Benthos address 50 with 10 pings in terminal homing one-way mode. 2021-05-18T16:45:36.203Z,1621356336.203 [DAT](INFO): ****** ping requested ****** 2021-05-18T16:45:36.218Z,1621356336.218 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:45:36.601Z,1621356336.601 [DAT](INFO): DAT read: user:17> 2021-05-18T16:45:36.602Z,1621356336.602 [DAT](INFO): DAT read: Tx time:16:45:10.9494 2021-05-18T16:45:36.602Z,1621356336.602 [DAT](INFO): Ping request sent. 2021-05-18T16:45:36.602Z,1621356336.602 [DAT](INFO): transmitted an acoustic signal 2021-05-18T16:45:36.602Z,1621356336.602 [DAT](INFO): publishing transmit ping time 2021-05-18T16:45:36.634Z,1621356336.634 [DAT](INFO): checking for new query: numPingsReceived=0 elapsed TxPingTime=0.031601 2021-05-18T16:45:36.677Z,1621356336.677 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:45:37.009Z,1621356337.009 [DAT](INFO): checking for new query: numPingsReceived=0 elapsed TxPingTime=0.407267 2021-05-18T16:45:37.025Z,1621356337.025 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:45:37.409Z,1621356337.409 [DAT](INFO): checking for new query: numPingsReceived=0 elapsed TxPingTime=0.806759 2021-05-18T16:45:37.448Z,1621356337.448 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:45:37.803Z,1621356337.803 [DAT](INFO): checking for new query: numPingsReceived=0 elapsed TxPingTime=1.200738 2021-05-18T16:45:37.821Z,1621356337.821 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:45:38.210Z,1621356338.210 [DAT](INFO): checking for new query: numPingsReceived=0 elapsed TxPingTime=1.608182 2021-05-18T16:45:38.226Z,1621356338.226 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:45:38.610Z,1621356338.610 [DAT](INFO): checking for new query: numPingsReceived=0 elapsed TxPingTime=2.008359 2021-05-18T16:45:38.653Z,1621356338.653 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:45:39.015Z,1621356339.015 [DAT](INFO): DAT read: Rx Time:16:45:13.0791 2021-05-18T16:45:39.016Z,1621356339.016 [DAT](INFO): received an acoustic signal 2021-05-18T16:45:39.017Z,1621356339.017 [DAT](INFO): DAT read: Bearing 65.6, -7.2 (Local) 2021-05-18T16:45:39.017Z,1621356339.017 [DAT](INFO): Local bearing/azimuth received: Bearing 65.6, -7.2 (Local) 2021-05-18T16:45:39.019Z,1621356339.019 [DAT](INFO): DAT read: Range 7 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0 2021-05-18T16:45:39.024Z,1621356339.024 [DAT](INFO): DAT read: 16:45:13.0791 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 464, 0.07,-1.307,-1.578,-1.321,-1.356, PHS= 0.046,-0.178, 0.020, RAW= 144.0, 10.6, CAL= 144.4, 7.2, ROT= 65.6, -7.2 2021-05-18T16:45:39.025Z,1621356339.025 [DAT](INFO): got valid direction response: 16:45:13.0791 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 464, 0.07,-1.307,-1.578,-1.321,-1.356, PHS= 0.046,-0.178, 0.020, RAW= 144.0, 10.6, CAL= 144.4, 7.2, ROT= 65.6, -7.2 2021-05-18T16:45:39.026Z,1621356339.026 [DAT](INFO): #Rx 1: Read range and direction messages. 2021-05-18T16:45:39.027Z,1621356339.027 [DAT](INFO): direction in vehicle frame: [ 0.409847 forward, 0.903503 starboard, -0.125333 keelward ] 2021-05-18T16:45:39.027Z,1621356339.027 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone 2021-05-18T16:45:39.027Z,1621356339.027 [DAT](INFO): publishing direction and range info 2021-05-18T16:45:39.030Z,1621356339.030 [DAT](INFO): checking for new query: numPingsReceived=1 elapsed TxPingTime=2.428073 2021-05-18T16:45:39.106Z,1621356339.106 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:45:39.119Z,1621356339.119 [lab_range_test:A.](INFO): direction in vehicle frame: [ 0.409847 forward, 0.903503 starboard, -0.125333 keelward ] 2021-05-18T16:45:39.119Z,1621356339.119 [lab_range_test:A.](DEBUG): processing response from DAT 2021-05-18T16:45:39.121Z,1621356339.121 [lab_range_test:A.](INFO): rotationFromVehicleToNavigationFrame_ = [ 0.998873,-0.047392,-0.002768;0.047446,0.998569,0.024682;0.001595,-0.024785,0.999692 ] 2021-05-18T16:45:39.122Z,1621356339.122 [lab_range_test:A.](INFO): rangeToContact_ = 0.300000 m 2021-05-18T16:45:39.123Z,1621356339.123 [lab_range_test:A.](INFO): direction in world frame: [ 0.452053 north, 0.885893 east, -0.104129 down ] 2021-05-18T16:45:39.136Z,1621356339.136 [lab_range_test:A.](INFO): relPosInFSK: [ 0.122954 forward, 0.271051 starboard, -0.037600 keelward ] 2021-05-18T16:45:39.136Z,1621356339.136 [lab_range_test:A.](INFO): relPosInNED: [ 0.135616 north, 0.265768 east, -0.031239 down ] 2021-05-18T16:45:39.137Z,1621356339.137 [lab_range_test:A.](DEBUG): Combining 10 samples. 2021-05-18T16:45:39.137Z,1621356339.137 [lab_range_test:A.](DEBUG): Could not read vehicle position; cannot calculate contact position. 2021-05-18T16:45:39.433Z,1621356339.433 [DAT](INFO): DAT read: Rx Time:16:45:13.5790 2021-05-18T16:45:39.434Z,1621356339.434 [DAT](INFO): received an acoustic signal 2021-05-18T16:45:39.435Z,1621356339.435 [DAT](INFO): DAT read: Bearing 67.0, -6.0 (Local) 2021-05-18T16:45:39.435Z,1621356339.435 [DAT](INFO): Local bearing/azimuth received: Bearing 67.0, -6.0 (Local) 2021-05-18T16:45:39.437Z,1621356339.437 [DAT](INFO): DAT read: Range 7 to 50 : 0.2 m (trip time 0.1 ms) speed 0.0 2021-05-18T16:45:39.442Z,1621356339.442 [DAT](INFO): DAT read: 16:45:13.5790 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 495, 0.19,-1.484,-1.728,-1.500,-1.534, PHS= 0.046,-0.150, 0.018, RAW= 142.6, 9.4, CAL= 143.0, 6.0, ROT= 67.0, -6.0 2021-05-18T16:45:39.443Z,1621356339.443 [DAT](INFO): got valid direction response: 16:45:13.5790 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 495, 0.19,-1.484,-1.728,-1.500,-1.534, PHS= 0.046,-0.150, 0.018, RAW= 142.6, 9.4, CAL= 143.0, 6.0, ROT= 67.0, -6.0 2021-05-18T16:45:39.444Z,1621356339.444 [DAT](INFO): #Rx 2: Read range and direction messages. 2021-05-18T16:45:39.445Z,1621356339.445 [DAT](INFO): direction in vehicle frame: [ 0.388591 forward, 0.915462 starboard, -0.104528 keelward ] 2021-05-18T16:45:39.445Z,1621356339.445 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone 2021-05-18T16:45:39.445Z,1621356339.445 [DAT](INFO): publishing direction and range info 2021-05-18T16:45:39.452Z,1621356339.452 [DAT](INFO): checking for new query: numPingsReceived=2 elapsed TxPingTime=2.850309 2021-05-18T16:45:39.493Z,1621356339.493 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:45:39.494Z,1621356339.494 [lab_range_test:A.](INFO): direction in vehicle frame: [ 0.388591 forward, 0.915462 starboard, -0.104528 keelward ] 2021-05-18T16:45:39.494Z,1621356339.494 [lab_range_test:A.](DEBUG): processing response from DAT 2021-05-18T16:45:39.512Z,1621356339.512 [lab_range_test:A.](INFO): rotationFromVehicleToNavigationFrame_ = [ 0.998902,-0.046765,-0.002769;0.046819,0.998596,0.024768;0.001606,-0.024870,0.999689 ] 2021-05-18T16:45:39.513Z,1621356339.513 [lab_range_test:A.](INFO): rangeToContact_ = 0.200000 m 2021-05-18T16:45:39.514Z,1621356339.514 [lab_range_test:A.](INFO): direction in world frame: [ 0.430857 north, 0.898604 east, -0.082898 down ] 2021-05-18T16:45:39.514Z,1621356339.514 [lab_range_test:A.](INFO): relPosInFSK: [ 0.077718 forward, 0.183092 starboard, -0.020906 keelward ] 2021-05-18T16:45:39.523Z,1621356339.523 [lab_range_test:A.](INFO): relPosInNED: [ 0.086171 north, 0.179721 east, -0.016580 down ] 2021-05-18T16:45:39.524Z,1621356339.524 [lab_range_test:A.](DEBUG): Combining 10 samples. 2021-05-18T16:45:39.524Z,1621356339.524 [lab_range_test:A.](DEBUG): Could not read vehicle position; cannot calculate contact position. 2021-05-18T16:45:39.846Z,1621356339.846 [DAT](INFO): DAT read: Rx Time:16:45:14.0791 2021-05-18T16:45:39.846Z,1621356339.846 [DAT](INFO): received an acoustic signal 2021-05-18T16:45:39.847Z,1621356339.847 [DAT](INFO): DAT read: Bearing 67.3, -7.4 (Local) 2021-05-18T16:45:39.848Z,1621356339.848 [DAT](INFO): Local bearing/azimuth received: Bearing 67.3, -7.4 (Local) 2021-05-18T16:45:39.850Z,1621356339.850 [DAT](INFO): DAT read: Range 7 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0 2021-05-18T16:45:39.855Z,1621356339.855 [DAT](INFO): DAT read: 16:45:14.0791 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 0, 0.54,-2.816, 3.096,-2.853,-2.890, PHS= 0.069,-0.253, 0.022, RAW= 142.2, 10.7, CAL= 142.7, 7.4, ROT= 67.3, -7.4 2021-05-18T16:45:39.856Z,1621356339.856 [DAT](INFO): got valid direction response: 16:45:14.0791 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 0, 0.54,-2.816, 3.096,-2.853,-2.890, PHS= 0.069,-0.253, 0.022, RAW= 142.2, 10.7, CAL= 142.7, 7.4, ROT= 67.3, -7.4 2021-05-18T16:45:39.856Z,1621356339.856 [DAT](INFO): #Rx 3: Read range and direction messages. 2021-05-18T16:45:39.857Z,1621356339.857 [DAT](INFO): direction in vehicle frame: [ 0.382692 forward, 0.914854 starboard, -0.128796 keelward ] 2021-05-18T16:45:39.858Z,1621356339.858 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone 2021-05-18T16:45:39.858Z,1621356339.858 [DAT](INFO): publishing direction and range info 2021-05-18T16:45:39.873Z,1621356339.873 [DAT](INFO): checking for new query: numPingsReceived=3 elapsed TxPingTime=3.270730 2021-05-18T16:45:39.904Z,1621356339.904 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:45:39.905Z,1621356339.905 [lab_range_test:A.](INFO): direction in vehicle frame: [ 0.382692 forward, 0.914854 starboard, -0.128796 keelward ] 2021-05-18T16:45:39.906Z,1621356339.906 [lab_range_test:A.](DEBUG): processing response from DAT 2021-05-18T16:45:39.928Z,1621356339.928 [lab_range_test:A.](INFO): rotationFromVehicleToNavigationFrame_ = [ 0.998914,-0.046506,-0.002705;0.046559,0.998608,0.024804;0.001548,-0.024903,0.999689 ] 2021-05-18T16:45:39.928Z,1621356339.928 [lab_range_test:A.](INFO): rangeToContact_ = 0.300000 m 2021-05-18T16:45:39.929Z,1621356339.929 [lab_range_test:A.](INFO): direction in world frame: [ 0.424672 north, 0.898990 east, -0.107099 down ] 2021-05-18T16:45:39.930Z,1621356339.930 [lab_range_test:A.](INFO): relPosInFSK: [ 0.114808 forward, 0.274456 starboard, -0.038639 keelward ] 2021-05-18T16:45:39.931Z,1621356339.931 [lab_range_test:A.](INFO): relPosInNED: [ 0.127401 north, 0.269697 east, -0.032130 down ] 2021-05-18T16:45:39.939Z,1621356339.939 [lab_range_test:A.](DEBUG): Combining 10 samples. 2021-05-18T16:45:39.939Z,1621356339.939 [lab_range_test:A.](DEBUG): Could not read vehicle position; cannot calculate contact position. 2021-05-18T16:45:40.237Z,1621356340.237 [DAT](INFO): checking for new query: numPingsReceived=3 elapsed TxPingTime=3.635436 2021-05-18T16:45:40.286Z,1621356340.286 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:45:40.635Z,1621356340.635 [DAT](INFO): DAT read: Rx Time:16:45:14.5790 2021-05-18T16:45:40.635Z,1621356340.635 [DAT](INFO): received an acoustic signal 2021-05-18T16:45:40.636Z,1621356340.636 [DAT](INFO): DAT read: Bearing 64.4, -8.5 (Local) 2021-05-18T16:45:40.637Z,1621356340.637 [DAT](INFO): Local bearing/azimuth received: Bearing 64.4, -8.5 (Local) 2021-05-18T16:45:40.639Z,1621356340.639 [DAT](INFO): DAT read: Range 7 to 50 : 0.2 m (trip time 0.1 ms) speed 0.0 2021-05-18T16:45:40.644Z,1621356340.644 [DAT](INFO): DAT read: 16:45:14.5790 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 496,-0.42, 2.615, 2.297, 2.600, 2.563, PHS= 0.047,-0.223, 0.022, RAW= 145.0, 11.9, CAL= 145.6, 8.5, ROT= 64.4, -8.5 2021-05-18T16:45:40.645Z,1621356340.645 [DAT](INFO): got valid direction response: 16:45:14.5790 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 496,-0.42, 2.615, 2.297, 2.600, 2.563, PHS= 0.047,-0.223, 0.022, RAW= 145.0, 11.9, CAL= 145.6, 8.5, ROT= 64.4, -8.5 2021-05-18T16:45:40.646Z,1621356340.646 [DAT](INFO): #Rx 4: Read range and direction messages. 2021-05-18T16:45:40.647Z,1621356340.647 [DAT](INFO): direction in vehicle frame: [ 0.427340 forward, 0.891927 starboard, -0.147809 keelward ] 2021-05-18T16:45:40.647Z,1621356340.647 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone 2021-05-18T16:45:40.647Z,1621356340.647 [DAT](INFO): publishing direction and range info 2021-05-18T16:45:40.650Z,1621356340.650 [DAT](INFO): checking for new query: numPingsReceived=4 elapsed TxPingTime=4.048393 2021-05-18T16:45:40.659Z,1621356340.659 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:45:40.660Z,1621356340.660 [lab_range_test:A.](INFO): direction in vehicle frame: [ 0.427340 forward, 0.891927 starboard, -0.147809 keelward ] 2021-05-18T16:45:40.660Z,1621356340.660 [lab_range_test:A.](DEBUG): processing response from DAT 2021-05-18T16:45:40.663Z,1621356340.663 [lab_range_test:A.](INFO): rotationFromVehicleToNavigationFrame_ = [ 0.999020,-0.044191,-0.002677;0.044245,0.998707,0.025014;0.001568,-0.025108,0.999683 ] 2021-05-18T16:45:40.663Z,1621356340.663 [lab_range_test:A.](INFO): rangeToContact_ = 0.200000 m 2021-05-18T16:45:40.664Z,1621356340.664 [lab_range_test:A.](INFO): direction in world frame: [ 0.466152 north, 0.875600 east, -0.126596 down ] 2021-05-18T16:45:40.665Z,1621356340.665 [lab_range_test:A.](INFO): relPosInFSK: [ 0.085468 forward, 0.178385 starboard, -0.029562 keelward ] 2021-05-18T16:45:40.666Z,1621356340.666 [lab_range_test:A.](INFO): relPosInNED: [ 0.093230 north, 0.175120 east, -0.025319 down ] 2021-05-18T16:45:40.666Z,1621356340.666 [lab_range_test:A.](DEBUG): Combining 10 samples. 2021-05-18T16:45:40.666Z,1621356340.666 [lab_range_test:A.](DEBUG): Could not read vehicle position; cannot calculate contact position. 2021-05-18T16:45:41.035Z,1621356341.035 [DAT](INFO): DAT read: Rx Time:16:45:15.0791 2021-05-18T16:45:41.035Z,1621356341.035 [DAT](INFO): received an acoustic signal 2021-05-18T16:45:41.036Z,1621356341.036 [DAT](INFO): DAT read: Bearing 64.5, -9.1 (Local) 2021-05-18T16:45:41.037Z,1621356341.037 [DAT](INFO): Local bearing/azimuth received: Bearing 64.5, -9.1 (Local) 2021-05-18T16:45:41.039Z,1621356341.039 [DAT](INFO): DAT read: Range 7 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0 2021-05-18T16:45:41.043Z,1621356341.043 [DAT](INFO): DAT read: 16:45:15.0791 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 1,-0.24,-2.865, 3.084,-2.882,-2.917, PHS= 0.048,-0.238, 0.020, RAW= 144.9, 12.5, CAL= 145.5, 9.1, ROT= 64.5, -9.1 2021-05-18T16:45:41.045Z,1621356341.045 [DAT](INFO): got valid direction response: 16:45:15.0791 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 1,-0.24,-2.865, 3.084,-2.882,-2.917, PHS= 0.048,-0.238, 0.020, RAW= 144.9, 12.5, CAL= 145.5, 9.1, ROT= 64.5, -9.1 2021-05-18T16:45:41.045Z,1621356341.045 [DAT](INFO): #Rx 5: Read range and direction messages. 2021-05-18T16:45:41.046Z,1621356341.046 [DAT](INFO): direction in vehicle frame: [ 0.425093 forward, 0.891225 starboard, -0.158158 keelward ] 2021-05-18T16:45:41.046Z,1621356341.046 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone 2021-05-18T16:45:41.046Z,1621356341.046 [DAT](INFO): publishing direction and range info 2021-05-18T16:45:41.049Z,1621356341.049 [DAT](INFO): checking for new query: numPingsReceived=5 elapsed TxPingTime=4.447376 2021-05-18T16:45:41.057Z,1621356341.057 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:45:41.058Z,1621356341.058 [lab_range_test:A.](INFO): direction in vehicle frame: [ 0.425093 forward, 0.891225 starboard, -0.158158 keelward ] 2021-05-18T16:45:41.058Z,1621356341.058 [lab_range_test:A.](DEBUG): processing response from DAT 2021-05-18T16:45:41.060Z,1621356341.060 [lab_range_test:A.](INFO): rotationFromVehicleToNavigationFrame_ = [ 0.999009,-0.044423,-0.002701;0.044477,0.998698,0.024977;0.001588,-0.025072,0.999684 ] 2021-05-18T16:45:41.061Z,1621356341.061 [lab_range_test:A.](INFO): rangeToContact_ = 0.500000 m 2021-05-18T16:45:41.062Z,1621356341.062 [lab_range_test:A.](INFO): direction in world frame: [ 0.464059 north, 0.875146 east, -0.136996 down ] 2021-05-18T16:45:41.062Z,1621356341.062 [lab_range_test:A.](INFO): relPosInFSK: [ 0.212546 forward, 0.445613 starboard, -0.079079 keelward ] 2021-05-18T16:45:41.103Z,1621356341.103 [lab_range_test:A.](INFO): relPosInNED: [ 0.232030 north, 0.437573 east, -0.068498 down ] 2021-05-18T16:45:41.104Z,1621356341.104 [lab_range_test:A.](DEBUG): Combining 10 samples. 2021-05-18T16:45:41.104Z,1621356341.104 [lab_range_test:A.](DEBUG): Could not read vehicle position; cannot calculate contact position. 2021-05-18T16:45:41.440Z,1621356341.440 [DAT](INFO): DAT read: Rx Time:16:45:15.5791 2021-05-18T16:45:41.440Z,1621356341.440 [DAT](INFO): received an acoustic signal 2021-05-18T16:45:41.441Z,1621356341.441 [DAT](INFO): DAT read: Bearing 64.5, -8.6 (Local) 2021-05-18T16:45:41.441Z,1621356341.441 [DAT](INFO): Local bearing/azimuth received: Bearing 64.5, -8.6 (Local) 2021-05-18T16:45:41.444Z,1621356341.444 [DAT](INFO): DAT read: Range 7 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0 2021-05-18T16:45:41.448Z,1621356341.448 [DAT](INFO): DAT read: 16:45:15.5791 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 496,-0.11, 2.558, 2.235, 2.542, 2.506, PHS= 0.048,-0.227, 0.021, RAW= 145.0, 12.1, CAL= 145.5, 8.6, ROT= 64.5, -8.6 2021-05-18T16:45:41.449Z,1621356341.449 [DAT](INFO): got valid direction response: 16:45:15.5791 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 496,-0.11, 2.558, 2.235, 2.542, 2.506, PHS= 0.048,-0.227, 0.021, RAW= 145.0, 12.1, CAL= 145.5, 8.6, ROT= 64.5, -8.6 2021-05-18T16:45:41.450Z,1621356341.450 [DAT](INFO): #Rx 6: Read range and direction messages. 2021-05-18T16:45:41.482Z,1621356341.482 [DAT](INFO): direction in vehicle frame: [ 0.425671 forward, 0.892437 starboard, -0.149535 keelward ] 2021-05-18T16:45:41.482Z,1621356341.482 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone 2021-05-18T16:45:41.482Z,1621356341.482 [DAT](INFO): publishing direction and range info 2021-05-18T16:45:41.485Z,1621356341.485 [DAT](INFO): checking for new query: numPingsReceived=6 elapsed TxPingTime=4.883182 2021-05-18T16:45:41.521Z,1621356341.521 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:45:41.522Z,1621356341.522 [lab_range_test:A.](INFO): direction in vehicle frame: [ 0.425671 forward, 0.892437 starboard, -0.149535 keelward ] 2021-05-18T16:45:41.522Z,1621356341.522 [lab_range_test:A.](DEBUG): processing response from DAT 2021-05-18T16:45:41.532Z,1621356341.532 [lab_range_test:A.](INFO): rotationFromVehicleToNavigationFrame_ = [ 0.998949,-0.045758,-0.002728;0.045811,0.998642,0.024814;0.001589,-0.024913,0.999688 ] 2021-05-18T16:45:41.533Z,1621356341.533 [lab_range_test:A.](INFO): rangeToContact_ = 0.300000 m 2021-05-18T16:45:41.533Z,1621356341.533 [lab_range_test:A.](INFO): direction in world frame: [ 0.465869 north, 0.875473 east, -0.128505 down ] 2021-05-18T16:45:41.534Z,1621356341.534 [lab_range_test:A.](INFO): relPosInFSK: [ 0.127701 forward, 0.267731 starboard, -0.044861 keelward ] 2021-05-18T16:45:41.547Z,1621356341.547 [lab_range_test:A.](INFO): relPosInNED: [ 0.139761 north, 0.262642 east, -0.038551 down ] 2021-05-18T16:45:41.548Z,1621356341.548 [lab_range_test:A.](DEBUG): Combining 10 samples. 2021-05-18T16:45:41.548Z,1621356341.548 [lab_range_test:A.](DEBUG): Could not read vehicle position; cannot calculate contact position. 2021-05-18T16:45:41.859Z,1621356341.859 [DAT](INFO): DAT read: Rx Time:16:45:16.0791 2021-05-18T16:45:41.860Z,1621356341.860 [DAT](INFO): received an acoustic signal 2021-05-18T16:45:41.861Z,1621356341.861 [DAT](INFO): DAT read: Bearing 66.1, -8.1 (Local) 2021-05-18T16:45:41.861Z,1621356341.861 [DAT](INFO): Local bearing/azimuth received: Bearing 66.1, -8.1 (Local) 2021-05-18T16:45:41.863Z,1621356341.863 [DAT](INFO): DAT read: Range 7 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0 2021-05-18T16:45:41.868Z,1621356341.868 [DAT](INFO): DAT read: 16:45:16.0791 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 497,-0.01,-1.496,-1.804,-1.517,-1.550, PHS= 0.051,-0.209, 0.018, RAW= 143.4, 11.4, CAL= 143.9, 8.1, ROT= 66.1, -8.1 2021-05-18T16:45:41.869Z,1621356341.869 [DAT](INFO): got valid direction response: 16:45:16.0791 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 497,-0.01,-1.496,-1.804,-1.517,-1.550, PHS= 0.051,-0.209, 0.018, RAW= 143.4, 11.4, CAL= 143.9, 8.1, ROT= 66.1, -8.1 2021-05-18T16:45:41.870Z,1621356341.870 [DAT](INFO): #Rx 7: Read range and direction messages. 2021-05-18T16:45:41.871Z,1621356341.871 [DAT](INFO): direction in vehicle frame: [ 0.401100 forward, 0.905133 starboard, -0.140901 keelward ] 2021-05-18T16:45:41.871Z,1621356341.871 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone 2021-05-18T16:45:41.871Z,1621356341.871 [DAT](INFO): publishing direction and range info 2021-05-18T16:45:41.874Z,1621356341.874 [DAT](INFO): checking for new query: numPingsReceived=7 elapsed TxPingTime=5.272068 2021-05-18T16:45:41.881Z,1621356341.881 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:45:41.883Z,1621356341.883 [lab_range_test:A.](INFO): direction in vehicle frame: [ 0.401100 forward, 0.905133 starboard, -0.140901 keelward ] 2021-05-18T16:45:41.883Z,1621356341.883 [lab_range_test:A.](DEBUG): processing response from DAT 2021-05-18T16:45:41.885Z,1621356341.885 [lab_range_test:A.](INFO): rotationFromVehicleToNavigationFrame_ = [ 0.998943,-0.045875,-0.002768;0.045929,0.998637,0.024804;0.001626,-0.024904,0.999689 ] 2021-05-18T16:45:41.885Z,1621356341.885 [lab_range_test:A.](INFO): rangeToContact_ = 0.500000 m 2021-05-18T16:45:41.886Z,1621356341.886 [lab_range_test:A.](INFO): direction in world frame: [ 0.442019 north, 0.889008 east, -0.119517 down ] 2021-05-18T16:45:41.887Z,1621356341.887 [lab_range_test:A.](INFO): relPosInFSK: [ 0.200550 forward, 0.452567 starboard, -0.070451 keelward ] 2021-05-18T16:45:41.888Z,1621356341.888 [lab_range_test:A.](INFO): relPosInNED: [ 0.221010 north, 0.444504 east, -0.059759 down ] 2021-05-18T16:45:41.888Z,1621356341.888 [lab_range_test:A.](DEBUG): Combining 10 samples. 2021-05-18T16:45:41.888Z,1621356341.888 [lab_range_test:A.](DEBUG): Could not read vehicle position; cannot calculate contact position. 2021-05-18T16:45:42.261Z,1621356342.261 [DAT](INFO): checking for new query: numPingsReceived=7 elapsed TxPingTime=5.658547 2021-05-18T16:45:42.273Z,1621356342.273 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:45:42.674Z,1621356342.674 [DAT](INFO): DAT read: Rx Time:16:45:16.5791 2021-05-18T16:45:42.674Z,1621356342.674 [DAT](INFO): received an acoustic signal 2021-05-18T16:45:42.676Z,1621356342.676 [DAT](INFO): DAT read: Bearing 66.5, -7.1 (Local) 2021-05-18T16:45:42.676Z,1621356342.676 [DAT](INFO): Local bearing/azimuth received: Bearing 66.5, -7.1 (Local) 2021-05-18T16:45:42.678Z,1621356342.678 [DAT](INFO): DAT read: Range 7 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0 2021-05-18T16:45:42.683Z,1621356342.683 [DAT](INFO): DAT read: 16:45:16.5791 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 496, 0.12,-1.639,-1.896,-1.655,-1.688, PHS= 0.045,-0.164, 0.017, RAW= 143.0, 10.4, CAL= 143.5, 7.1, ROT= 66.5, -7.1 2021-05-18T16:45:42.684Z,1621356342.684 [DAT](INFO): got valid direction response: 16:45:16.5791 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 496, 0.12,-1.639,-1.896,-1.655,-1.688, PHS= 0.045,-0.164, 0.017, RAW= 143.0, 10.4, CAL= 143.5, 7.1, ROT= 66.5, -7.1 2021-05-18T16:45:42.685Z,1621356342.685 [DAT](INFO): #Rx 8: Read range and direction messages. 2021-05-18T16:45:42.686Z,1621356342.686 [DAT](INFO): direction in vehicle frame: [ 0.395691 forward, 0.910028 starboard, -0.123601 keelward ] 2021-05-18T16:45:42.686Z,1621356342.686 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone 2021-05-18T16:45:42.686Z,1621356342.686 [DAT](INFO): publishing direction and range info 2021-05-18T16:45:42.689Z,1621356342.689 [DAT](INFO): checking for new query: numPingsReceived=8 elapsed TxPingTime=6.087235 2021-05-18T16:45:42.697Z,1621356342.697 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:45:42.698Z,1621356342.698 [lab_range_test:A.](INFO): direction in vehicle frame: [ 0.395691 forward, 0.910028 starboard, -0.123601 keelward ] 2021-05-18T16:45:42.698Z,1621356342.698 [lab_range_test:A.](DEBUG): processing response from DAT 2021-05-18T16:45:42.700Z,1621356342.700 [lab_range_test:A.](INFO): rotationFromVehicleToNavigationFrame_ = [ 0.998859,-0.047667,-0.002769;0.047721,0.998557,0.024623;0.001591,-0.024727,0.999693 ] 2021-05-18T16:45:42.701Z,1621356342.701 [lab_range_test:A.](INFO): rangeToContact_ = 0.300000 m 2021-05-18T16:45:42.702Z,1621356342.702 [lab_range_test:A.](INFO): direction in world frame: [ 0.438471 north, 0.892910 east, -0.102252 down ] 2021-05-18T16:45:42.702Z,1621356342.702 [lab_range_test:A.](INFO): relPosInFSK: [ 0.118707 forward, 0.273008 starboard, -0.037080 keelward ] 2021-05-18T16:45:42.747Z,1621356342.747 [lab_range_test:A.](INFO): relPosInNED: [ 0.131541 north, 0.267873 east, -0.030676 down ] 2021-05-18T16:45:42.748Z,1621356342.748 [lab_range_test:A.](DEBUG): Combining 10 samples. 2021-05-18T16:45:42.748Z,1621356342.748 [lab_range_test:A.](DEBUG): Could not read vehicle position; cannot calculate contact position. 2021-05-18T16:45:43.065Z,1621356343.065 [DAT](INFO): DAT read: Rx Time:16:45:17.0791 2021-05-18T16:45:43.066Z,1621356343.066 [DAT](INFO): received an acoustic signal 2021-05-18T16:45:43.067Z,1621356343.067 [DAT](INFO): DAT read: Bearing 66.6, -7.8 (Local) 2021-05-18T16:45:43.067Z,1621356343.067 [DAT](INFO): Local bearing/azimuth received: Bearing 66.6, -7.8 (Local) 2021-05-18T16:45:43.069Z,1621356343.069 [DAT](INFO): DAT read: Range 7 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0 2021-05-18T16:45:43.074Z,1621356343.074 [DAT](INFO): DAT read: 16:45:17.0791 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 496, 0.22,-1.319,-1.586,-1.337,-1.367, PHS= 0.045,-0.175, 0.015, RAW= 142.9, 11.1, CAL= 143.4, 7.8, ROT= 66.6, -7.8 2021-05-18T16:45:43.075Z,1621356343.075 [DAT](INFO): got valid direction response: 16:45:17.0791 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 496, 0.22,-1.319,-1.586,-1.337,-1.367, PHS= 0.045,-0.175, 0.015, RAW= 142.9, 11.1, CAL= 143.4, 7.8, ROT= 66.6, -7.8 2021-05-18T16:45:43.076Z,1621356343.076 [DAT](INFO): #Rx 9: Read range and direction messages. 2021-05-18T16:45:43.077Z,1621356343.077 [DAT](INFO): direction in vehicle frame: [ 0.393473 forward, 0.909263 starboard, -0.135716 keelward ] 2021-05-18T16:45:43.077Z,1621356343.077 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone 2021-05-18T16:45:43.077Z,1621356343.077 [DAT](INFO): publishing direction and range info 2021-05-18T16:45:43.080Z,1621356343.080 [DAT](INFO): checking for new query: numPingsReceived=9 elapsed TxPingTime=6.478228 2021-05-18T16:45:43.088Z,1621356343.088 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:45:43.089Z,1621356343.089 [lab_range_test:A.](INFO): direction in vehicle frame: [ 0.393473 forward, 0.909263 starboard, -0.135716 keelward ] 2021-05-18T16:45:43.089Z,1621356343.089 [lab_range_test:A.](DEBUG): processing response from DAT 2021-05-18T16:45:43.125Z,1621356343.125 [lab_range_test:A.](INFO): rotationFromVehicleToNavigationFrame_ = [ 0.998831,-0.048258,-0.002719;0.048311,0.998529,0.024600;0.001528,-0.024702,0.999694 ] 2021-05-18T16:45:43.125Z,1621356343.125 [lab_range_test:A.](INFO): rangeToContact_ = 0.300000 m 2021-05-18T16:45:43.126Z,1621356343.126 [lab_range_test:A.](INFO): direction in world frame: [ 0.436733 north, 0.892290 east, -0.114376 down ] 2021-05-18T16:45:43.127Z,1621356343.127 [lab_range_test:A.](INFO): relPosInFSK: [ 0.118042 forward, 0.272779 starboard, -0.040715 keelward ] 2021-05-18T16:45:43.136Z,1621356343.136 [lab_range_test:A.](INFO): relPosInNED: [ 0.131020 north, 0.267687 east, -0.034313 down ] 2021-05-18T16:45:43.136Z,1621356343.136 [lab_range_test:A.](DEBUG): Combining 10 samples. 2021-05-18T16:45:43.136Z,1621356343.136 [lab_range_test:A.](DEBUG): Could not read vehicle position; cannot calculate contact position. 2021-05-18T16:45:43.467Z,1621356343.467 [DAT](INFO): DAT read: Rx Time:16:45:17.5790 2021-05-18T16:45:43.467Z,1621356343.467 [DAT](INFO): received an acoustic signal 2021-05-18T16:45:43.468Z,1621356343.468 [DAT](INFO): DAT read: Bearing 67.5, -6.5 (Local) 2021-05-18T16:45:43.469Z,1621356343.469 [DAT](INFO): Local bearing/azimuth received: Bearing 67.5, -6.5 (Local) 2021-05-18T16:45:43.471Z,1621356343.471 [DAT](INFO): DAT read: Range 7 to 50 : 0.2 m (trip time 0.1 ms) speed 0.0 2021-05-18T16:45:43.475Z,1621356343.475 [DAT](INFO): DAT read: 16:45:17.5790 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 495, 0.42,-2.893, 3.127,-2.914,-2.947, PHS= 0.050,-0.165, 0.018, RAW= 142.0, 9.8, CAL= 142.5, 6.5, ROT= 67.5, -6.5 2021-05-18T16:45:43.477Z,1621356343.477 [DAT](INFO): got valid direction response: 16:45:17.5790 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 495, 0.42,-2.893, 3.127,-2.914,-2.947, PHS= 0.050,-0.165, 0.018, RAW= 142.0, 9.8, CAL= 142.5, 6.5, ROT= 67.5, -6.5 2021-05-18T16:45:43.477Z,1621356343.477 [DAT](INFO): #Rx 10: Read range and direction messages. 2021-05-18T16:45:43.478Z,1621356343.478 [DAT](INFO): direction in vehicle frame: [ 0.380223 forward, 0.917941 starboard, -0.113203 keelward ] 2021-05-18T16:45:43.478Z,1621356343.478 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone 2021-05-18T16:45:43.478Z,1621356343.478 [DAT](INFO): publishing direction and range info 2021-05-18T16:45:43.488Z,1621356343.488 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:45:43.489Z,1621356343.489 [lab_range_test:A.](INFO): direction in vehicle frame: [ 0.380223 forward, 0.917941 starboard, -0.113203 keelward ] 2021-05-18T16:45:43.490Z,1621356343.490 [lab_range_test:A.](DEBUG): processing response from DAT 2021-05-18T16:45:43.492Z,1621356343.492 [lab_range_test:A.](INFO): rotationFromVehicleToNavigationFrame_ = [ 0.998878,-0.047278,-0.002753;0.047331,0.998574,0.024687;0.001582,-0.024789,0.999691 ] 2021-05-18T16:45:43.492Z,1621356343.492 [lab_range_test:A.](INFO): rangeToContact_ = 0.200000 m 2021-05-18T16:45:43.493Z,1621356343.493 [lab_range_test:A.](INFO): direction in world frame: [ 0.423065 north, 0.901462 east, -0.091554 down ] 2021-05-18T16:45:43.494Z,1621356343.494 [lab_range_test:A.](INFO): relPosInFSK: [ 0.076045 forward, 0.183588 starboard, -0.022641 keelward ] 2021-05-18T16:45:43.494Z,1621356343.494 [lab_range_test:A.](INFO): relPosInNED: [ 0.084613 north, 0.180292 east, -0.018311 down ] 2021-05-18T16:45:43.543Z,1621356343.543 [lab_range_test:A.](DEBUG): Combining 10 samples. 2021-05-18T16:45:43.544Z,1621356343.544 [lab_range_test:A.](DEBUG): Could not read vehicle position; cannot calculate contact position. 2021-05-18T16:45:43.898Z,1621356343.898 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:45:44.277Z,1621356344.277 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:45:44.686Z,1621356344.686 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:45:45.095Z,1621356345.095 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:45:45.509Z,1621356345.509 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:45:45.925Z,1621356345.925 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:45:46.314Z,1621356346.314 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:45:46.714Z,1621356346.714 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:45:47.105Z,1621356347.105 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:45:47.510Z,1621356347.510 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:45:47.913Z,1621356347.913 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:45:48.328Z,1621356348.328 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:45:48.741Z,1621356348.741 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:45:48.742Z,1621356348.742 [lab_range_test:A.](INFO): update period (5.000000 s) has elapsed, querying... 2021-05-18T16:45:48.742Z,1621356348.742 [lab_range_test:A.](INFO): *** querying DAT *** 2021-05-18T16:45:49.125Z,1621356349.125 [DAT](INFO): ****** received valid address query ****** 2021-05-18T16:45:49.125Z,1621356349.125 [DAT](INFO): ****** received valid ping request ****** 2021-05-18T16:45:49.125Z,1621356349.125 [DAT](INFO): Querying Benthos address 50 with 10 pings in terminal homing one-way mode. 2021-05-18T16:45:49.127Z,1621356349.127 [DAT](INFO): ****** ping requested ****** 2021-05-18T16:45:49.200Z,1621356349.200 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:45:49.526Z,1621356349.526 [DAT](INFO): DAT read: user:18> 2021-05-18T16:45:49.527Z,1621356349.527 [DAT](INFO): DAT read: Tx time:16:45:23.8493 2021-05-18T16:45:49.531Z,1621356349.531 [DAT](INFO): Ping request sent. 2021-05-18T16:45:49.531Z,1621356349.531 [DAT](INFO): transmitted an acoustic signal 2021-05-18T16:45:49.532Z,1621356349.532 [DAT](INFO): publishing transmit ping time 2021-05-18T16:45:49.532Z,1621356349.532 [DAT](INFO): checking for new query: numPingsReceived=0 elapsed TxPingTime=0.000964 2021-05-18T16:45:49.593Z,1621356349.593 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:45:49.927Z,1621356349.927 [DAT](INFO): checking for new query: numPingsReceived=0 elapsed TxPingTime=0.396090 2021-05-18T16:45:49.935Z,1621356349.935 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:45:50.326Z,1621356350.326 [DAT](INFO): checking for new query: numPingsReceived=0 elapsed TxPingTime=0.795124 2021-05-18T16:45:50.341Z,1621356350.341 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:45:50.735Z,1621356350.735 [DAT](INFO): checking for new query: numPingsReceived=0 elapsed TxPingTime=1.204070 2021-05-18T16:45:50.762Z,1621356350.762 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:45:51.139Z,1621356351.139 [DAT](INFO): checking for new query: numPingsReceived=0 elapsed TxPingTime=1.607315 2021-05-18T16:45:51.170Z,1621356351.170 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:45:51.553Z,1621356351.553 [DAT](INFO): checking for new query: numPingsReceived=0 elapsed TxPingTime=2.021560 2021-05-18T16:45:51.584Z,1621356351.584 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:45:51.962Z,1621356351.962 [DAT](INFO): DAT read: Rx Time:16:45:25.9790 2021-05-18T16:45:51.962Z,1621356351.962 [DAT](INFO): received an acoustic signal 2021-05-18T16:45:51.963Z,1621356351.963 [DAT](INFO): DAT read: Bearing 63.9, -9.1 (Local) 2021-05-18T16:45:51.964Z,1621356351.964 [DAT](INFO): Local bearing/azimuth received: Bearing 63.9, -9.1 (Local) 2021-05-18T16:45:51.965Z,1621356351.965 [DAT](INFO): DAT read: Range 7 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0 2021-05-18T16:45:51.970Z,1621356351.970 [DAT](INFO): DAT read: 16:45:25.9790 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 225,-0.40,-0.772,-1.081,-0.784,-0.818, PHS= 0.042,-0.218, 0.019, RAW= 145.5, 12.5, CAL= 146.1, 9.1, ROT= 63.9, -9.1 2021-05-18T16:45:51.971Z,1621356351.971 [DAT](INFO): got valid direction response: 16:45:25.9790 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 225,-0.40,-0.772,-1.081,-0.784,-0.818, PHS= 0.042,-0.218, 0.019, RAW= 145.5, 12.5, CAL= 146.1, 9.1, ROT= 63.9, -9.1 2021-05-18T16:45:51.972Z,1621356351.972 [DAT](INFO): #Rx 1: Read range and direction messages. 2021-05-18T16:45:51.973Z,1621356351.973 [DAT](INFO): direction in vehicle frame: [ 0.434402 forward, 0.886725 starboard, -0.158158 keelward ] 2021-05-18T16:45:51.973Z,1621356351.973 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone 2021-05-18T16:45:51.973Z,1621356351.973 [DAT](INFO): publishing direction and range info 2021-05-18T16:45:52.033Z,1621356352.033 [DAT](INFO): checking for new query: numPingsReceived=1 elapsed TxPingTime=2.501282 2021-05-18T16:45:52.050Z,1621356352.050 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:45:52.063Z,1621356352.063 [lab_range_test:A.](INFO): direction in vehicle frame: [ 0.434402 forward, 0.886725 starboard, -0.158158 keelward ] 2021-05-18T16:45:52.063Z,1621356352.063 [lab_range_test:A.](DEBUG): processing response from DAT 2021-05-18T16:45:52.065Z,1621356352.065 [lab_range_test:A.](INFO): rotationFromVehicleToNavigationFrame_ = [ 0.998889,-0.047055,-0.002735;0.047108,0.998584,0.024718;0.001568,-0.024819,0.999691 ] 2021-05-18T16:45:52.066Z,1621356352.066 [lab_range_test:A.](INFO): rangeToContact_ = 0.300000 m 2021-05-18T16:45:52.067Z,1621356352.067 [lab_range_test:A.](INFO): direction in world frame: [ 0.475443 north, 0.868954 east, -0.137379 down ] 2021-05-18T16:45:52.076Z,1621356352.076 [lab_range_test:A.](INFO): relPosInFSK: [ 0.130321 forward, 0.266017 starboard, -0.047447 keelward ] 2021-05-18T16:45:52.076Z,1621356352.076 [lab_range_test:A.](INFO): relPosInNED: [ 0.142633 north, 0.260686 east, -0.041214 down ] 2021-05-18T16:45:52.077Z,1621356352.077 [lab_range_test:A.](DEBUG): Combining 10 samples. 2021-05-18T16:45:52.077Z,1621356352.077 [lab_range_test:A.](DEBUG): Could not read vehicle position; cannot calculate contact position. 2021-05-18T16:45:52.389Z,1621356352.389 [DAT](INFO): DAT read: Rx Time:16:45:26.4790 2021-05-18T16:45:52.390Z,1621356352.390 [DAT](INFO): received an acoustic signal 2021-05-18T16:45:52.391Z,1621356352.391 [DAT](INFO): DAT read: Bearing 64.2, -9.1 (Local) 2021-05-18T16:45:52.391Z,1621356352.391 [DAT](INFO): Local bearing/azimuth received: Bearing 64.2, -9.1 (Local) 2021-05-18T16:45:52.393Z,1621356352.393 [DAT](INFO): DAT read: Range 7 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0 2021-05-18T16:45:52.398Z,1621356352.398 [DAT](INFO): DAT read: 16:45:26.4790 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 496,-0.22,-2.228,-2.549,-2.242,-2.277, PHS= 0.045,-0.228, 0.020, RAW= 145.3, 12.5, CAL= 145.8, 9.1, ROT= 64.2, -9.1 2021-05-18T16:45:52.399Z,1621356352.399 [DAT](INFO): got valid direction response: 16:45:26.4790 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 496,-0.22,-2.228,-2.549,-2.242,-2.277, PHS= 0.045,-0.228, 0.020, RAW= 145.3, 12.5, CAL= 145.8, 9.1, ROT= 64.2, -9.1 2021-05-18T16:45:52.400Z,1621356352.400 [DAT](INFO): #Rx 2: Read range and direction messages. 2021-05-18T16:45:52.401Z,1621356352.401 [DAT](INFO): direction in vehicle frame: [ 0.429753 forward, 0.888987 starboard, -0.158158 keelward ] 2021-05-18T16:45:52.401Z,1621356352.401 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone 2021-05-18T16:45:52.401Z,1621356352.401 [DAT](INFO): publishing direction and range info 2021-05-18T16:45:52.404Z,1621356352.404 [DAT](INFO): checking for new query: numPingsReceived=2 elapsed TxPingTime=2.873210 2021-05-18T16:45:52.440Z,1621356352.440 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:45:52.441Z,1621356352.441 [lab_range_test:A.](INFO): direction in vehicle frame: [ 0.429753 forward, 0.888987 starboard, -0.158158 keelward ] 2021-05-18T16:45:52.441Z,1621356352.441 [lab_range_test:A.](DEBUG): processing response from DAT 2021-05-18T16:45:52.450Z,1621356352.450 [lab_range_test:A.](INFO): rotationFromVehicleToNavigationFrame_ = [ 0.998883,-0.047178,-0.002757;0.047231,0.998579,0.024699;0.001588,-0.024802,0.999691 ] 2021-05-18T16:45:52.467Z,1621356352.467 [lab_range_test:A.](INFO): rangeToContact_ = 0.300000 m 2021-05-18T16:45:52.468Z,1621356352.468 [lab_range_test:A.](INFO): direction in world frame: [ 0.471010 north, 0.871371 east, -0.137337 down ] 2021-05-18T16:45:52.469Z,1621356352.469 [lab_range_test:A.](INFO): relPosInFSK: [ 0.128926 forward, 0.266696 starboard, -0.047447 keelward ] 2021-05-18T16:45:52.469Z,1621356352.469 [lab_range_test:A.](INFO): relPosInNED: [ 0.141303 north, 0.261411 east, -0.041201 down ] 2021-05-18T16:45:52.470Z,1621356352.470 [lab_range_test:A.](DEBUG): Combining 10 samples. 2021-05-18T16:45:52.470Z,1621356352.470 [lab_range_test:A.](DEBUG): Could not read vehicle position; cannot calculate contact position. 2021-05-18T16:45:52.753Z,1621356352.753 [DAT](INFO): DAT read: Rx Time:16:45:26.9790 2021-05-18T16:45:52.753Z,1621356352.753 [DAT](INFO): received an acoustic signal 2021-05-18T16:45:52.754Z,1621356352.754 [DAT](INFO): DAT read: Bearing 64.2, -9.1 (Local) 2021-05-18T16:45:52.755Z,1621356352.755 [DAT](INFO): Local bearing/azimuth received: Bearing 64.2, -9.1 (Local) 2021-05-18T16:45:52.757Z,1621356352.757 [DAT](INFO): DAT read: Range 7 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0 2021-05-18T16:45:52.762Z,1621356352.762 [DAT](INFO): DAT read: 16:45:26.9790 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 496,-0.08,-1.857,-2.167,-1.870,-1.904, PHS= 0.043,-0.219, 0.019, RAW= 145.3, 12.5, CAL= 145.8, 9.1, ROT= 64.2, -9.1 2021-05-18T16:45:52.763Z,1621356352.763 [DAT](INFO): got valid direction response: 16:45:26.9790 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 496,-0.08,-1.857,-2.167,-1.870,-1.904, PHS= 0.043,-0.219, 0.019, RAW= 145.3, 12.5, CAL= 145.8, 9.1, ROT= 64.2, -9.1 2021-05-18T16:45:52.764Z,1621356352.764 [DAT](INFO): #Rx 3: Read range and direction messages. 2021-05-18T16:45:52.764Z,1621356352.764 [DAT](INFO): direction in vehicle frame: [ 0.429753 forward, 0.888987 starboard, -0.158158 keelward ] 2021-05-18T16:45:52.765Z,1621356352.765 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone 2021-05-18T16:45:52.765Z,1621356352.765 [DAT](INFO): publishing direction and range info 2021-05-18T16:45:52.768Z,1621356352.768 [DAT](INFO): checking for new query: numPingsReceived=3 elapsed TxPingTime=3.236691 2021-05-18T16:45:52.775Z,1621356352.775 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:45:52.776Z,1621356352.776 [lab_range_test:A.](INFO): direction in vehicle frame: [ 0.429753 forward, 0.888987 starboard, -0.158158 keelward ] 2021-05-18T16:45:52.777Z,1621356352.777 [lab_range_test:A.](DEBUG): processing response from DAT 2021-05-18T16:45:52.787Z,1621356352.787 [lab_range_test:A.](INFO): rotationFromVehicleToNavigationFrame_ = [ 0.998838,-0.048119,-0.002617;0.048169,0.998536,0.024631;0.001428,-0.024728,0.999693 ] 2021-05-18T16:45:52.787Z,1621356352.787 [lab_range_test:A.](INFO): rangeToContact_ = 0.300000 m 2021-05-18T16:45:52.788Z,1621356352.788 [lab_range_test:A.](INFO): direction in world frame: [ 0.471850 north, 0.870917 east, -0.137338 down ] 2021-05-18T16:45:52.789Z,1621356352.789 [lab_range_test:A.](INFO): relPosInFSK: [ 0.128926 forward, 0.266696 starboard, -0.047447 keelward ] 2021-05-18T16:45:52.790Z,1621356352.790 [lab_range_test:A.](INFO): relPosInNED: [ 0.141555 north, 0.261275 east, -0.041201 down ] 2021-05-18T16:45:52.790Z,1621356352.790 [lab_range_test:A.](DEBUG): Combining 10 samples. 2021-05-18T16:45:52.790Z,1621356352.790 [lab_range_test:A.](DEBUG): Could not read vehicle position; cannot calculate contact position. 2021-05-18T16:45:53.154Z,1621356353.154 [DAT](INFO): checking for new query: numPingsReceived=3 elapsed TxPingTime=3.622605 2021-05-18T16:45:53.204Z,1621356353.204 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:45:53.560Z,1621356353.560 [DAT](INFO): DAT read: Rx Time:16:45:27.4789 2021-05-18T16:45:53.560Z,1621356353.560 [DAT](INFO): received an acoustic signal 2021-05-18T16:45:53.561Z,1621356353.561 [DAT](INFO): DAT read: Bearing 65.3, -8.1 (Local) 2021-05-18T16:45:53.562Z,1621356353.562 [DAT](INFO): Local bearing/azimuth received: Bearing 65.3, -8.1 (Local) 2021-05-18T16:45:53.564Z,1621356353.564 [DAT](INFO): DAT read: Range 7 to 50 : 0.2 m (trip time 0.1 ms) speed 0.0 2021-05-18T16:45:53.569Z,1621356353.569 [DAT](INFO): DAT read: 16:45:27.4789 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 495, 0.03,-1.959,-2.236,-1.974,-2.006, PHS= 0.043,-0.186, 0.018, RAW= 144.1, 11.5, CAL= 144.7, 8.1, ROT= 65.3, -8.1 2021-05-18T16:45:53.570Z,1621356353.570 [DAT](INFO): got valid direction response: 16:45:27.4789 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 495, 0.03,-1.959,-2.236,-1.974,-2.006, PHS= 0.043,-0.186, 0.018, RAW= 144.1, 11.5, CAL= 144.7, 8.1, ROT= 65.3, -8.1 2021-05-18T16:45:53.570Z,1621356353.570 [DAT](INFO): #Rx 4: Read range and direction messages. 2021-05-18T16:45:53.572Z,1621356353.572 [DAT](INFO): direction in vehicle frame: [ 0.413698 forward, 0.899445 starboard, -0.140901 keelward ] 2021-05-18T16:45:53.572Z,1621356353.572 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone 2021-05-18T16:45:53.572Z,1621356353.572 [DAT](INFO): publishing direction and range info 2021-05-18T16:45:53.575Z,1621356353.575 [DAT](INFO): checking for new query: numPingsReceived=4 elapsed TxPingTime=4.043566 2021-05-18T16:45:53.623Z,1621356353.623 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:45:53.636Z,1621356353.636 [lab_range_test:A.](INFO): direction in vehicle frame: [ 0.413698 forward, 0.899445 starboard, -0.140901 keelward ] 2021-05-18T16:45:53.636Z,1621356353.636 [lab_range_test:A.](DEBUG): processing response from DAT 2021-05-18T16:45:53.638Z,1621356353.638 [lab_range_test:A.](INFO): rotationFromVehicleToNavigationFrame_ = [ 0.998878,-0.047286,-0.002686;0.047338,0.998574,0.024688;0.001515,-0.024788,0.999692 ] 2021-05-18T16:45:53.639Z,1621356353.639 [lab_range_test:A.](INFO): rangeToContact_ = 0.200000 m 2021-05-18T16:45:53.648Z,1621356353.648 [lab_range_test:A.](INFO): direction in world frame: [ 0.455599 north, 0.882092 east, -0.119763 down ] 2021-05-18T16:45:53.649Z,1621356353.649 [lab_range_test:A.](INFO): relPosInFSK: [ 0.082740 forward, 0.179889 starboard, -0.028180 keelward ] 2021-05-18T16:45:53.650Z,1621356353.650 [lab_range_test:A.](INFO): relPosInNED: [ 0.091120 north, 0.176418 east, -0.023953 down ] 2021-05-18T16:45:53.650Z,1621356353.650 [lab_range_test:A.](DEBUG): Combining 10 samples. 2021-05-18T16:45:53.650Z,1621356353.650 [lab_range_test:A.](DEBUG): Could not read vehicle position; cannot calculate contact position. 2021-05-18T16:45:53.963Z,1621356353.963 [DAT](INFO): DAT read: Rx Time:16:45:27.9789 2021-05-18T16:45:53.964Z,1621356353.964 [DAT](INFO): received an acoustic signal 2021-05-18T16:45:53.965Z,1621356353.965 [DAT](INFO): DAT read: Bearing 67.1, -9.5 (Local) 2021-05-18T16:45:53.965Z,1621356353.965 [DAT](INFO): Local bearing/azimuth received: Bearing 67.1, -9.5 (Local) 2021-05-18T16:45:53.971Z,1621356353.971 [DAT](INFO): DAT read: Range 7 to 50 : 0.2 m (trip time 0.1 ms) speed 0.0 2021-05-18T16:45:53.980Z,1621356353.980 [DAT](INFO): DAT read: 16:45:27.9789 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 0, 0.65, 0.280,-0.219, 0.226, 0.195, PHS= 0.082,-0.370, 0.016, RAW= 142.3, 12.8, CAL= 142.9, 9.5, ROT= 67.1, -9.5 2021-05-18T16:45:53.981Z,1621356353.981 [DAT](INFO): got valid direction response: 16:45:27.9789 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 0, 0.65, 0.280,-0.219, 0.226, 0.195, PHS= 0.082,-0.370, 0.016, RAW= 142.3, 12.8, CAL= 142.9, 9.5, ROT= 67.1, -9.5 2021-05-18T16:45:53.982Z,1621356353.982 [DAT](INFO): #Rx 5: Read range and direction messages. 2021-05-18T16:45:53.999Z,1621356353.999 [DAT](INFO): direction in vehicle frame: [ 0.383787 forward, 0.908552 starboard, -0.165048 keelward ] 2021-05-18T16:45:53.999Z,1621356353.999 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone 2021-05-18T16:45:53.999Z,1621356353.999 [DAT](INFO): publishing direction and range info 2021-05-18T16:45:54.002Z,1621356354.002 [DAT](INFO): checking for new query: numPingsReceived=5 elapsed TxPingTime=4.470996 2021-05-18T16:45:54.026Z,1621356354.026 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:45:54.047Z,1621356354.047 [lab_range_test:A.](INFO): direction in vehicle frame: [ 0.383787 forward, 0.908552 starboard, -0.165048 keelward ] 2021-05-18T16:45:54.047Z,1621356354.047 [lab_range_test:A.](DEBUG): processing response from DAT 2021-05-18T16:45:54.049Z,1621356354.049 [lab_range_test:A.](INFO): rotationFromVehicleToNavigationFrame_ = [ 0.998872,-0.047406,-0.002641;0.047457,0.998567,0.024729;0.001465,-0.024827,0.999691 ] 2021-05-18T16:45:54.050Z,1621356354.050 [lab_range_test:A.](INFO): rangeToContact_ = 0.200000 m 2021-05-18T16:45:54.050Z,1621356354.050 [lab_range_test:A.](INFO): direction in world frame: [ 0.426230 north, 0.893154 east, -0.143542 down ] 2021-05-18T16:45:54.060Z,1621356354.060 [lab_range_test:A.](INFO): relPosInFSK: [ 0.076757 forward, 0.181710 starboard, -0.033010 keelward ] 2021-05-18T16:45:54.060Z,1621356354.060 [lab_range_test:A.](INFO): relPosInNED: [ 0.085246 north, 0.178631 east, -0.028708 down ] 2021-05-18T16:45:54.061Z,1621356354.061 [lab_range_test:A.](DEBUG): Combining 10 samples. 2021-05-18T16:45:54.061Z,1621356354.061 [lab_range_test:A.](DEBUG): Could not read vehicle position; cannot calculate contact position. 2021-05-18T16:45:54.393Z,1621356354.393 [DAT](INFO): DAT read: Rx Time:16:45:28.4788 2021-05-18T16:45:54.394Z,1621356354.394 [DAT](INFO): received an acoustic signal 2021-05-18T16:45:54.395Z,1621356354.395 [DAT](INFO): DAT read: Bearing 66.8, -7.3 (Local) 2021-05-18T16:45:54.395Z,1621356354.395 [DAT](INFO): Local bearing/azimuth received: Bearing 66.8, -7.3 (Local) 2021-05-18T16:45:54.397Z,1621356354.397 [DAT](INFO): DAT read: Range 7 to 50 : 0.0 m (trip time 0.0 ms) speed 0.0 2021-05-18T16:45:54.398Z,1621356354.398 [DAT](INFO): unknown deviceResponse_: Range 7 to 50 : 0.0 m (trip time 0.0 ms) speed 0.0 2021-05-18T16:45:54.402Z,1621356354.402 [DAT](INFO): DAT read: 16:45:28.4788 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 495, 0.29,-1.248,-1.507,-1.266,-1.297, PHS= 0.045,-0.166, 0.016, RAW= 142.7, 10.6, CAL= 143.2, 7.3, ROT= 66.8, -7.3 2021-05-18T16:45:54.403Z,1621356354.403 [DAT](INFO): got valid direction response: 16:45:28.4788 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 495, 0.29,-1.248,-1.507,-1.266,-1.297, PHS= 0.045,-0.166, 0.016, RAW= 142.7, 10.6, CAL= 143.2, 7.3, ROT= 66.8, -7.3 2021-05-18T16:45:54.404Z,1621356354.404 [DAT](INFO): #Rx 6: Read direction message, but no range. 2021-05-18T16:45:54.405Z,1621356354.405 [DAT](INFO): direction in vehicle frame: [ 0.390749 forward, 0.911685 starboard, -0.127065 keelward ] 2021-05-18T16:45:54.405Z,1621356354.405 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone 2021-05-18T16:45:54.408Z,1621356354.408 [DAT](INFO): checking for new query: numPingsReceived=6 elapsed TxPingTime=4.876990 2021-05-18T16:45:54.416Z,1621356354.416 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:45:54.798Z,1621356354.798 [DAT](INFO): DAT read: Rx Time:16:45:28.9789 2021-05-18T16:45:54.798Z,1621356354.798 [DAT](INFO): received an acoustic signal 2021-05-18T16:45:54.800Z,1621356354.800 [DAT](INFO): DAT read: Bearing 64.2, -9.4 (Local) 2021-05-18T16:45:54.800Z,1621356354.800 [DAT](INFO): Local bearing/azimuth received: Bearing 64.2, -9.4 (Local) 2021-05-18T16:45:54.802Z,1621356354.802 [DAT](INFO): DAT read: Range 7 to 50 : 0.2 m (trip time 0.1 ms) speed 0.0 2021-05-18T16:45:54.823Z,1621356354.823 [DAT](INFO): DAT read: 16:45:28.9789 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 1,-0.50,-1.807,-2.120,-1.821,-1.853, PHS= 0.042,-0.223, 0.018, RAW= 145.3, 12.8, CAL= 145.8, 9.4, ROT= 64.2, -9.4 2021-05-18T16:45:54.824Z,1621356354.824 [DAT](INFO): got valid direction response: 16:45:28.9789 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 1,-0.50,-1.807,-2.120,-1.821,-1.853, PHS= 0.042,-0.223, 0.018, RAW= 145.3, 12.8, CAL= 145.8, 9.4, ROT= 64.2, -9.4 2021-05-18T16:45:54.825Z,1621356354.825 [DAT](INFO): #Rx 7: Read range and direction messages. 2021-05-18T16:45:54.826Z,1621356354.826 [DAT](INFO): direction in vehicle frame: [ 0.429387 forward, 0.888229 starboard, -0.163326 keelward ] 2021-05-18T16:45:54.826Z,1621356354.826 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone 2021-05-18T16:45:54.826Z,1621356354.826 [DAT](INFO): publishing direction and range info 2021-05-18T16:45:54.838Z,1621356354.838 [DAT](INFO): checking for new query: numPingsReceived=7 elapsed TxPingTime=5.306328 2021-05-18T16:45:54.869Z,1621356354.869 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:45:54.870Z,1621356354.870 [lab_range_test:A.](INFO): direction in vehicle frame: [ 0.429387 forward, 0.888229 starboard, -0.163326 keelward ] 2021-05-18T16:45:54.871Z,1621356354.871 [lab_range_test:A.](DEBUG): processing response from DAT 2021-05-18T16:45:54.881Z,1621356354.881 [lab_range_test:A.](INFO): rotationFromVehicleToNavigationFrame_ = [ 0.998821,-0.048481,-0.002525;0.048529,0.998517,0.024657;0.001325,-0.024751,0.999693 ] 2021-05-18T16:45:54.881Z,1621356354.881 [lab_range_test:A.](INFO): rangeToContact_ = 0.200000 m 2021-05-18T16:45:54.882Z,1621356354.882 [lab_range_test:A.](INFO): direction in world frame: [ 0.471769 north, 0.870138 east, -0.142459 down ] 2021-05-18T16:45:54.891Z,1621356354.891 [lab_range_test:A.](INFO): relPosInFSK: [ 0.085877 forward, 0.177646 starboard, -0.032665 keelward ] 2021-05-18T16:45:54.892Z,1621356354.892 [lab_range_test:A.](INFO): relPosInNED: [ 0.094354 north, 0.174028 east, -0.028492 down ] 2021-05-18T16:45:54.892Z,1621356354.892 [lab_range_test:A.](DEBUG): Combining 10 samples. 2021-05-18T16:45:54.892Z,1621356354.892 [lab_range_test:A.](DEBUG): Could not read vehicle position; cannot calculate contact position. 2021-05-18T16:45:55.195Z,1621356355.195 [DAT](INFO): DAT read: Rx Time:16:45:29.4789 2021-05-18T16:45:55.196Z,1621356355.196 [DAT](INFO): received an acoustic signal 2021-05-18T16:45:55.198Z,1621356355.198 [DAT](INFO): DAT read: Bearing 64.7, -9.3 (Local) 2021-05-18T16:45:55.198Z,1621356355.198 [DAT](INFO): Local bearing/azimuth received: Bearing 64.7, -9.3 (Local) 2021-05-18T16:45:55.200Z,1621356355.200 [DAT](INFO): checking for new query: numPingsReceived=7 elapsed TxPingTime=5.668434 2021-05-18T16:45:55.216Z,1621356355.216 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:45:55.584Z,1621356355.584 [DAT](INFO): DAT read: Range 7 to 50 : 0.2 m (trip time 0.1 ms) speed 0.0 2021-05-18T16:45:55.616Z,1621356355.616 [DAT](INFO): DAT read: 16:45:29.4789 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 496,-0.27, 3.002, 2.676, 2.985, 2.952, PHS= 0.046,-0.232, 0.018, RAW= 144.7, 12.7, CAL= 145.3, 9.3, ROT= 64.7, -9.3 2021-05-18T16:45:55.617Z,1621356355.617 [DAT](INFO): got valid direction response: 16:45:29.4789 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 496,-0.27, 3.002, 2.676, 2.985, 2.952, PHS= 0.046,-0.232, 0.018, RAW= 144.7, 12.7, CAL= 145.3, 9.3, ROT= 64.7, -9.3 2021-05-18T16:45:55.618Z,1621356355.618 [DAT](INFO): #Rx 8: Read range and direction messages. 2021-05-18T16:45:55.620Z,1621356355.620 [DAT](INFO): direction in vehicle frame: [ 0.421741 forward, 0.892199 starboard, -0.161604 keelward ] 2021-05-18T16:45:55.620Z,1621356355.620 [DAT](INFO): publishing direction and range info 2021-05-18T16:45:55.624Z,1621356355.624 [DAT](INFO): checking for new query: numPingsReceived=8 elapsed TxPingTime=6.092353 2021-05-18T16:45:55.631Z,1621356355.631 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:45:55.632Z,1621356355.632 [lab_range_test:A.](INFO): direction in vehicle frame: [ 0.421741 forward, 0.892199 starboard, -0.161604 keelward ] 2021-05-18T16:45:55.632Z,1621356355.632 [lab_range_test:A.](DEBUG): processing response from DAT 2021-05-18T16:45:55.634Z,1621356355.634 [lab_range_test:A.](INFO): rotationFromVehicleToNavigationFrame_ = [ 0.998892,-0.046993,-0.002515;0.047041,0.998585,0.024802;0.001346,-0.024893,0.999689 ] 2021-05-18T16:45:55.635Z,1621356355.635 [lab_range_test:A.](INFO): rangeToContact_ = 0.200000 m 2021-05-18T16:45:55.636Z,1621356355.636 [lab_range_test:A.](INFO): direction in world frame: [ 0.463026 north, 0.875140 east, -0.140486 down ] 2021-05-18T16:45:55.636Z,1621356355.636 [lab_range_test:A.](INFO): relPosInFSK: [ 0.084348 forward, 0.178440 starboard, -0.032321 keelward ] 2021-05-18T16:45:55.637Z,1621356355.637 [lab_range_test:A.](INFO): relPosInNED: [ 0.092605 north, 0.175028 east, -0.028097 down ] 2021-05-18T16:45:55.638Z,1621356355.638 [lab_range_test:A.](DEBUG): Combining 10 samples. 2021-05-18T16:45:55.638Z,1621356355.638 [lab_range_test:A.](DEBUG): Could not read vehicle position; cannot calculate contact position. 2021-05-18T16:45:55.983Z,1621356355.983 [DAT](INFO): DAT read: Rx Time:16:45:29.9790 2021-05-18T16:45:55.983Z,1621356355.983 [DAT](INFO): received an acoustic signal 2021-05-18T16:45:55.985Z,1621356355.985 [DAT](INFO): DAT read: Bearing 63.9, -10.0 (Local) 2021-05-18T16:45:55.985Z,1621356355.985 [DAT](INFO): Local bearing/azimuth received: Bearing 63.9, -10.0 (Local) 2021-05-18T16:45:55.987Z,1621356355.987 [DAT](INFO): DAT read: Range 7 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0 2021-05-18T16:45:55.992Z,1621356355.992 [DAT](INFO): DAT read: 16:45:29.9790 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 497,-0.12,-2.329,-2.659,-2.342,-2.374, PHS= 0.042,-0.241, 0.017, RAW= 145.5, 13.4, CAL= 146.1, 10.0, ROT= 63.9, -10.0 2021-05-18T16:45:55.993Z,1621356355.993 [DAT](INFO): got valid direction response: 16:45:29.9790 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 497,-0.12,-2.329,-2.659,-2.342,-2.374, PHS= 0.042,-0.241, 0.017, RAW= 145.5, 13.4, CAL= 146.1, 10.0, ROT= 63.9, -10.0 2021-05-18T16:45:55.993Z,1621356355.993 [DAT](INFO): #Rx 9: Read range and direction messages. 2021-05-18T16:45:55.994Z,1621356355.994 [DAT](INFO): direction in vehicle frame: [ 0.433256 forward, 0.884385 starboard, -0.173648 keelward ] 2021-05-18T16:45:55.995Z,1621356355.995 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone 2021-05-18T16:45:55.995Z,1621356355.995 [DAT](INFO): publishing direction and range info 2021-05-18T16:45:55.998Z,1621356355.998 [DAT](INFO): checking for new query: numPingsReceived=9 elapsed TxPingTime=6.466402 2021-05-18T16:45:56.005Z,1621356356.005 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:45:56.006Z,1621356356.006 [lab_range_test:A.](INFO): direction in vehicle frame: [ 0.433256 forward, 0.884385 starboard, -0.173648 keelward ] 2021-05-18T16:45:56.006Z,1621356356.006 [lab_range_test:A.](DEBUG): processing response from DAT 2021-05-18T16:45:56.008Z,1621356356.008 [lab_range_test:A.](INFO): rotationFromVehicleToNavigationFrame_ = [ 0.998873,-0.047398,-0.002663;0.047450,0.998567,0.024736;0.001486,-0.024835,0.999690 ] 2021-05-18T16:45:56.009Z,1621356356.009 [lab_range_test:A.](INFO): rangeToContact_ = 0.300000 m 2021-05-18T16:45:56.009Z,1621356356.009 [lab_range_test:A.](INFO): direction in world frame: [ 0.474473 north, 0.866894 east, -0.152872 down ] 2021-05-18T16:45:56.010Z,1621356356.010 [lab_range_test:A.](INFO): relPosInFSK: [ 0.129977 forward, 0.265315 starboard, -0.052094 keelward ] 2021-05-18T16:45:56.043Z,1621356356.043 [lab_range_test:A.](INFO): relPosInNED: [ 0.142342 north, 0.260068 east, -0.045861 down ] 2021-05-18T16:45:56.043Z,1621356356.043 [lab_range_test:A.](DEBUG): Combining 10 samples. 2021-05-18T16:45:56.043Z,1621356356.043 [lab_range_test:A.](DEBUG): Could not read vehicle position; cannot calculate contact position. 2021-05-18T16:45:56.387Z,1621356356.387 [DAT](INFO): DAT read: Rx Time:16:45:30.4789 2021-05-18T16:45:56.387Z,1621356356.387 [DAT](INFO): received an acoustic signal 2021-05-18T16:45:56.388Z,1621356356.388 [DAT](INFO): DAT read: Bearing 65.1, -8.6 (Local) 2021-05-18T16:45:56.389Z,1621356356.389 [DAT](INFO): Local bearing/azimuth received: Bearing 65.1, -8.6 (Local) 2021-05-18T16:45:56.391Z,1621356356.391 [DAT](INFO): DAT read: Range 7 to 50 : 0.2 m (trip time 0.1 ms) speed 0.0 2021-05-18T16:45:56.396Z,1621356356.396 [DAT](INFO): DAT read: 16:45:30.4789 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 496,-0.00,-2.395,-2.691,-2.411,-2.444, PHS= 0.044,-0.203, 0.018, RAW= 144.4, 12.0, CAL= 144.9, 8.6, ROT= 65.1, -8.6 2021-05-18T16:45:56.397Z,1621356356.397 [DAT](INFO): got valid direction response: 16:45:30.4789 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 496,-0.00,-2.395,-2.691,-2.411,-2.444, PHS= 0.044,-0.203, 0.018, RAW= 144.4, 12.0, CAL= 144.9, 8.6, ROT= 65.1, -8.6 2021-05-18T16:45:56.397Z,1621356356.397 [DAT](INFO): #Rx 10: Read range and direction messages. 2021-05-18T16:45:56.398Z,1621356356.398 [DAT](INFO): direction in vehicle frame: [ 0.416302 forward, 0.896846 starboard, -0.149535 keelward ] 2021-05-18T16:45:56.398Z,1621356356.398 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone 2021-05-18T16:45:56.399Z,1621356356.399 [DAT](INFO): publishing direction and range info 2021-05-18T16:45:56.417Z,1621356356.417 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:45:56.418Z,1621356356.418 [lab_range_test:A.](INFO): direction in vehicle frame: [ 0.416302 forward, 0.896846 starboard, -0.149535 keelward ] 2021-05-18T16:45:56.418Z,1621356356.418 [lab_range_test:A.](DEBUG): processing response from DAT 2021-05-18T16:45:56.420Z,1621356356.420 [lab_range_test:A.](INFO): rotationFromVehicleToNavigationFrame_ = [ 0.998914,-0.046507,-0.002742;0.046561,0.998607,0.024806;0.001584,-0.024907,0.999689 ] 2021-05-18T16:45:56.421Z,1621356356.421 [lab_range_test:A.](INFO): rangeToContact_ = 0.200000 m 2021-05-18T16:45:56.421Z,1621356356.421 [lab_range_test:A.](INFO): direction in world frame: [ 0.457371 north, 0.879960 east, -0.128383 down ] 2021-05-18T16:45:56.422Z,1621356356.422 [lab_range_test:A.](INFO): relPosInFSK: [ 0.083260 forward, 0.179369 starboard, -0.029907 keelward ] 2021-05-18T16:45:56.443Z,1621356356.443 [lab_range_test:A.](INFO): relPosInNED: [ 0.091474 north, 0.175992 east, -0.025677 down ] 2021-05-18T16:45:56.443Z,1621356356.443 [lab_range_test:A.](DEBUG): Combining 10 samples. 2021-05-18T16:45:56.443Z,1621356356.443 [lab_range_test:A.](DEBUG): Could not read vehicle position; cannot calculate contact position. 2021-05-18T16:45:56.809Z,1621356356.809 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:45:57.210Z,1621356357.210 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:45:57.636Z,1621356357.636 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:45:58.041Z,1621356358.041 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:45:58.433Z,1621356358.433 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:45:58.828Z,1621356358.828 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:45:59.225Z,1621356359.225 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:45:59.630Z,1621356359.630 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:46:00.033Z,1621356360.033 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:46:00.453Z,1621356360.453 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:46:00.861Z,1621356360.861 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:46:01.270Z,1621356361.270 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:46:01.650Z,1621356361.650 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:46:01.650Z,1621356361.650 [lab_range_test:A.](INFO): update period (5.000000 s) has elapsed, querying... 2021-05-18T16:46:01.650Z,1621356361.650 [lab_range_test:A.](INFO): *** querying DAT *** 2021-05-18T16:46:02.046Z,1621356362.046 [DAT](INFO): ****** received valid address query ****** 2021-05-18T16:46:02.046Z,1621356362.046 [DAT](INFO): ****** received valid ping request ****** 2021-05-18T16:46:02.047Z,1621356362.047 [DAT](INFO): Querying Benthos address 50 with 10 pings in terminal homing one-way mode. 2021-05-18T16:46:02.049Z,1621356362.049 [DAT](INFO): ****** ping requested ****** 2021-05-18T16:46:02.098Z,1621356362.098 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:46:02.447Z,1621356362.447 [DAT](INFO): DAT read: user:19> 2021-05-18T16:46:02.448Z,1621356362.448 [DAT](INFO): DAT read: Tx time:16:45:36.7491 2021-05-18T16:46:02.448Z,1621356362.448 [DAT](INFO): Ping request sent. 2021-05-18T16:46:02.448Z,1621356362.448 [DAT](INFO): transmitted an acoustic signal 2021-05-18T16:46:02.448Z,1621356362.448 [DAT](INFO): publishing transmit ping time 2021-05-18T16:46:02.449Z,1621356362.449 [DAT](INFO): checking for new query: numPingsReceived=0 elapsed TxPingTime=0.000873 2021-05-18T16:46:02.462Z,1621356362.462 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:46:02.850Z,1621356362.850 [DAT](INFO): checking for new query: numPingsReceived=0 elapsed TxPingTime=0.402333 2021-05-18T16:46:02.865Z,1621356362.865 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:46:03.269Z,1621356363.269 [DAT](INFO): checking for new query: numPingsReceived=0 elapsed TxPingTime=0.820793 2021-05-18T16:46:03.285Z,1621356363.285 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:46:03.678Z,1621356363.678 [DAT](INFO): checking for new query: numPingsReceived=0 elapsed TxPingTime=1.229461 2021-05-18T16:46:03.698Z,1621356363.698 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:46:04.073Z,1621356364.073 [DAT](INFO): checking for new query: numPingsReceived=0 elapsed TxPingTime=1.624452 2021-05-18T16:46:04.107Z,1621356364.107 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:46:04.470Z,1621356364.470 [DAT](INFO): checking for new query: numPingsReceived=0 elapsed TxPingTime=2.022058 2021-05-18T16:46:04.478Z,1621356364.478 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:46:04.877Z,1621356364.877 [DAT](INFO): DAT read: Rx Time:16:45:38.8788 2021-05-18T16:46:04.878Z,1621356364.878 [DAT](INFO): received an acoustic signal 2021-05-18T16:46:04.879Z,1621356364.879 [DAT](INFO): DAT read: Bearing 67.5, -6.0 (Local) 2021-05-18T16:46:04.879Z,1621356364.879 [DAT](INFO): Local bearing/azimuth received: Bearing 67.5, -6.0 (Local) 2021-05-18T16:46:04.881Z,1621356364.881 [DAT](INFO): DAT read: Range 7 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0 2021-05-18T16:46:04.886Z,1621356364.886 [DAT](INFO): DAT read: 16:45:38.8788 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 464, 0.18, 1.451, 1.194, 1.431, 1.397, PHS= 0.050,-0.159, 0.018, RAW= 142.0, 9.4, CAL= 142.5, 6.0, ROT= 67.5, -6.0 2021-05-18T16:46:04.887Z,1621356364.887 [DAT](INFO): got valid direction response: 16:45:38.8788 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 464, 0.18, 1.451, 1.194, 1.431, 1.397, PHS= 0.050,-0.159, 0.018, RAW= 142.0, 9.4, CAL= 142.5, 6.0, ROT= 67.5, -6.0 2021-05-18T16:46:04.888Z,1621356364.888 [DAT](INFO): #Rx 1: Read range and direction messages. 2021-05-18T16:46:04.889Z,1621356364.889 [DAT](INFO): direction in vehicle frame: [ 0.380587 forward, 0.918818 starboard, -0.104528 keelward ] 2021-05-18T16:46:04.889Z,1621356364.889 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone 2021-05-18T16:46:04.889Z,1621356364.889 [DAT](INFO): publishing direction and range info 2021-05-18T16:46:04.892Z,1621356364.892 [DAT](INFO): checking for new query: numPingsReceived=1 elapsed TxPingTime=2.444290 2021-05-18T16:46:04.900Z,1621356364.900 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:46:04.901Z,1621356364.901 [lab_range_test:A.](INFO): direction in vehicle frame: [ 0.380587 forward, 0.918818 starboard, -0.104528 keelward ] 2021-05-18T16:46:04.901Z,1621356364.901 [lab_range_test:A.](DEBUG): processing response from DAT 2021-05-18T16:46:04.903Z,1621356364.903 [lab_range_test:A.](INFO): rotationFromVehicleToNavigationFrame_ = [ 0.998928,-0.046201,-0.002723;0.046254,0.998621,0.024833;0.001572,-0.024932,0.999688 ] 2021-05-18T16:46:04.904Z,1621356364.904 [lab_range_test:A.](INFO): rangeToContact_ = 0.300000 m 2021-05-18T16:46:04.904Z,1621356364.904 [lab_range_test:A.](INFO): direction in world frame: [ 0.422514 north, 0.902574 east, -0.082715 down ] 2021-05-18T16:46:04.905Z,1621356364.905 [lab_range_test:A.](INFO): relPosInFSK: [ 0.114176 forward, 0.275646 starboard, -0.031359 keelward ] 2021-05-18T16:46:04.906Z,1621356364.906 [lab_range_test:A.](INFO): relPosInNED: [ 0.126754 north, 0.270772 east, -0.024815 down ] 2021-05-18T16:46:04.906Z,1621356364.906 [lab_range_test:A.](DEBUG): Combining 10 samples. 2021-05-18T16:46:04.906Z,1621356364.906 [lab_range_test:A.](DEBUG): Could not read vehicle position; cannot calculate contact position. 2021-05-18T16:46:05.274Z,1621356365.274 [DAT](INFO): DAT read: Rx Time:16:45:39.3787 2021-05-18T16:46:05.275Z,1621356365.275 [DAT](INFO): received an acoustic signal 2021-05-18T16:46:05.276Z,1621356365.276 [DAT](INFO): DAT read: Bearing 65.4, -7.8 (Local) 2021-05-18T16:46:05.276Z,1621356365.276 [DAT](INFO): Local bearing/azimuth received: Bearing 65.4, -7.8 (Local) 2021-05-18T16:46:05.278Z,1621356365.278 [DAT](INFO): DAT read: Range 7 to 50 : 0.2 m (trip time 0.1 ms) speed 0.0 2021-05-18T16:46:05.283Z,1621356365.283 [DAT](INFO): DAT read: 16:45:39.3787 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 495, 0.34,-0.011,-0.274,-0.025,-0.057, PHS= 0.041,-0.173, 0.017, RAW= 144.1, 11.2, CAL= 144.6, 7.8, ROT= 65.4, -7.8 2021-05-18T16:46:05.284Z,1621356365.284 [DAT](INFO): got valid direction response: 16:45:39.3787 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 495, 0.34,-0.011,-0.274,-0.025,-0.057, PHS= 0.041,-0.173, 0.017, RAW= 144.1, 11.2, CAL= 144.6, 7.8, ROT= 65.4, -7.8 2021-05-18T16:46:05.285Z,1621356365.285 [DAT](INFO): #Rx 2: Read range and direction messages. 2021-05-18T16:46:05.286Z,1621356365.286 [DAT](INFO): direction in vehicle frame: [ 0.412429 forward, 0.900824 starboard, -0.135716 keelward ] 2021-05-18T16:46:05.286Z,1621356365.286 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone 2021-05-18T16:46:05.286Z,1621356365.286 [DAT](INFO): publishing direction and range info 2021-05-18T16:46:05.289Z,1621356365.289 [DAT](INFO): checking for new query: numPingsReceived=2 elapsed TxPingTime=2.841108 2021-05-18T16:46:05.359Z,1621356365.359 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:46:05.360Z,1621356365.360 [lab_range_test:A.](INFO): direction in vehicle frame: [ 0.412429 forward, 0.900824 starboard, -0.135716 keelward ] 2021-05-18T16:46:05.360Z,1621356365.360 [lab_range_test:A.](DEBUG): processing response from DAT 2021-05-18T16:46:05.362Z,1621356365.362 [lab_range_test:A.](INFO): rotationFromVehicleToNavigationFrame_ = [ 0.998845,-0.047977,-0.002671;0.048028,0.998542,0.024651;0.001484,-0.024751,0.999693 ] 2021-05-18T16:46:05.363Z,1621356365.363 [lab_range_test:A.](INFO): rangeToContact_ = 0.200000 m 2021-05-18T16:46:05.372Z,1621356365.372 [lab_range_test:A.](INFO): direction in world frame: [ 0.455016 north, 0.883082 east, -0.114569 down ] 2021-05-18T16:46:05.372Z,1621356365.372 [lab_range_test:A.](INFO): relPosInFSK: [ 0.082486 forward, 0.180165 starboard, -0.027143 keelward ] 2021-05-18T16:46:05.373Z,1621356365.373 [lab_range_test:A.](INFO): relPosInNED: [ 0.091003 north, 0.176616 east, -0.022914 down ] 2021-05-18T16:46:05.374Z,1621356365.374 [lab_range_test:A.](DEBUG): Combining 10 samples. 2021-05-18T16:46:05.374Z,1621356365.374 [lab_range_test:A.](DEBUG): Could not read vehicle position; cannot calculate contact position. 2021-05-18T16:46:05.684Z,1621356365.684 [DAT](INFO): DAT read: Rx Time:16:45:39.8788 2021-05-18T16:46:05.684Z,1621356365.684 [DAT](INFO): received an acoustic signal 2021-05-18T16:46:05.686Z,1621356365.686 [DAT](INFO): DAT read: Bearing 63.8, -9.9 (Local) 2021-05-18T16:46:05.686Z,1621356365.686 [DAT](INFO): Local bearing/azimuth received: Bearing 63.8, -9.9 (Local) 2021-05-18T16:46:05.696Z,1621356365.696 [DAT](INFO): DAT read: Range 7 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0 2021-05-18T16:46:05.701Z,1621356365.701 [DAT](INFO): DAT read: 16:45:39.8788 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 1,-0.43,-0.540,-0.858,-0.552,-0.584, PHS= 0.040,-0.230, 0.017, RAW= 145.6, 13.3, CAL= 146.2, 9.9, ROT= 63.8, -9.9 2021-05-18T16:46:05.702Z,1621356365.702 [DAT](INFO): got valid direction response: 16:45:39.8788 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 1,-0.43,-0.540,-0.858,-0.552,-0.584, PHS= 0.040,-0.230, 0.017, RAW= 145.6, 13.3, CAL= 146.2, 9.9, ROT= 63.8, -9.9 2021-05-18T16:46:05.703Z,1621356365.703 [DAT](INFO): #Rx 3: Read range and direction messages. 2021-05-18T16:46:05.740Z,1621356365.740 [DAT](INFO): direction in vehicle frame: [ 0.434932 forward, 0.883898 starboard, -0.171929 keelward ] 2021-05-18T16:46:05.740Z,1621356365.740 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone 2021-05-18T16:46:05.740Z,1621356365.740 [DAT](INFO): publishing direction and range info 2021-05-18T16:46:05.752Z,1621356365.752 [DAT](INFO): checking for new query: numPingsReceived=3 elapsed TxPingTime=3.303458 2021-05-18T16:46:05.775Z,1621356365.775 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:46:05.776Z,1621356365.776 [lab_range_test:A.](INFO): direction in vehicle frame: [ 0.434932 forward, 0.883898 starboard, -0.171929 keelward ] 2021-05-18T16:46:05.777Z,1621356365.777 [lab_range_test:A.](DEBUG): processing response from DAT 2021-05-18T16:46:05.779Z,1621356365.779 [lab_range_test:A.](INFO): rotationFromVehicleToNavigationFrame_ = [ 0.998906,-0.046684,-0.002723;0.046737,0.998600,0.024774;0.001562,-0.024874,0.999689 ] 2021-05-18T16:46:05.787Z,1621356365.787 [lab_range_test:A.](INFO): rangeToContact_ = 0.300000 m 2021-05-18T16:46:05.788Z,1621356365.788 [lab_range_test:A.](INFO): direction in world frame: [ 0.475498 north, 0.866633 east, -0.151162 down ] 2021-05-18T16:46:05.789Z,1621356365.789 [lab_range_test:A.](INFO): relPosInFSK: [ 0.130479 forward, 0.265169 starboard, -0.051579 keelward ] 2021-05-18T16:46:05.789Z,1621356365.789 [lab_range_test:A.](INFO): relPosInNED: [ 0.142649 north, 0.259990 east, -0.045349 down ] 2021-05-18T16:46:05.790Z,1621356365.790 [lab_range_test:A.](DEBUG): Combining 10 samples. 2021-05-18T16:46:05.790Z,1621356365.790 [lab_range_test:A.](DEBUG): Could not read vehicle position; cannot calculate contact position. 2021-05-18T16:46:06.090Z,1621356366.090 [DAT](INFO): DAT read: Rx Time:16:45:40.3788 2021-05-18T16:46:06.091Z,1621356366.091 [DAT](INFO): received an acoustic signal 2021-05-18T16:46:06.092Z,1621356366.092 [DAT](INFO): DAT read: Bearing 64.0, -9.6 (Local) 2021-05-18T16:46:06.093Z,1621356366.093 [DAT](INFO): Local bearing/azimuth received: Bearing 64.0, -9.6 (Local) 2021-05-18T16:46:06.095Z,1621356366.095 [DAT](INFO): checking for new query: numPingsReceived=3 elapsed TxPingTime=3.646220 2021-05-18T16:46:06.111Z,1621356366.111 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:46:06.514Z,1621356366.514 [DAT](INFO): DAT read: Range 7 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0 2021-05-18T16:46:06.519Z,1621356366.519 [DAT](INFO): DAT read: 16:45:40.3788 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 496,-0.23,-2.027,-2.359,-2.041,-2.074, PHS= 0.044,-0.241, 0.019, RAW= 145.4, 13.0, CAL= 146.0, 9.6, ROT= 64.0, -9.6 2021-05-18T16:46:06.520Z,1621356366.520 [DAT](INFO): got valid direction response: 16:45:40.3788 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 496,-0.23,-2.027,-2.359,-2.041,-2.074, PHS= 0.044,-0.241, 0.019, RAW= 145.4, 13.0, CAL= 146.0, 9.6, ROT= 64.0, -9.6 2021-05-18T16:46:06.520Z,1621356366.520 [DAT](INFO): #Rx 4: Read range and direction messages. 2021-05-18T16:46:06.521Z,1621356366.521 [DAT](INFO): direction in vehicle frame: [ 0.432232 forward, 0.886207 starboard, -0.166769 keelward ] 2021-05-18T16:46:06.522Z,1621356366.522 [DAT](INFO): publishing direction and range info 2021-05-18T16:46:06.525Z,1621356366.525 [DAT](INFO): checking for new query: numPingsReceived=4 elapsed TxPingTime=4.076699 2021-05-18T16:46:06.532Z,1621356366.532 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:46:06.533Z,1621356366.533 [lab_range_test:A.](INFO): direction in vehicle frame: [ 0.432232 forward, 0.886207 starboard, -0.166769 keelward ] 2021-05-18T16:46:06.533Z,1621356366.533 [lab_range_test:A.](DEBUG): processing response from DAT 2021-05-18T16:46:06.536Z,1621356366.536 [lab_range_test:A.](INFO): rotationFromVehicleToNavigationFrame_ = [ 0.998930,-0.046172,-0.002802;0.046227,0.998623,0.024801;0.001653,-0.024904,0.999688 ] 2021-05-18T16:46:06.536Z,1621356366.536 [lab_range_test:A.](INFO): rangeToContact_ = 0.300000 m 2021-05-18T16:46:06.537Z,1621356366.537 [lab_range_test:A.](INFO): direction in world frame: [ 0.472461 north, 0.869183 east, -0.145949 down ] 2021-05-18T16:46:06.538Z,1621356366.538 [lab_range_test:A.](INFO): relPosInFSK: [ 0.129670 forward, 0.265862 starboard, -0.050031 keelward ] 2021-05-18T16:46:06.538Z,1621356366.538 [lab_range_test:A.](INFO): relPosInNED: [ 0.141738 north, 0.260755 east, -0.043785 down ] 2021-05-18T16:46:06.539Z,1621356366.539 [lab_range_test:A.](DEBUG): Combining 10 samples. 2021-05-18T16:46:06.539Z,1621356366.539 [lab_range_test:A.](DEBUG): Could not read vehicle position; cannot calculate contact position. 2021-05-18T16:46:06.906Z,1621356366.906 [DAT](INFO): DAT read: Rx Time:16:45:40.8789 2021-05-18T16:46:06.906Z,1621356366.906 [DAT](INFO): received an acoustic signal 2021-05-18T16:46:06.908Z,1621356366.908 [DAT](INFO): DAT read: Bearing 63.9, -9.8 (Local) 2021-05-18T16:46:06.908Z,1621356366.908 [DAT](INFO): Local bearing/azimuth received: Bearing 63.9, -9.8 (Local) 2021-05-18T16:46:06.910Z,1621356366.910 [DAT](INFO): DAT read: Range 7 to 50 : 0.5 m (trip time 0.3 ms) speed 0.0 2021-05-18T16:46:06.956Z,1621356366.956 [DAT](INFO): DAT read: 16:45:40.8789 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 497,-0.10,-0.469,-0.788,-0.482,-0.514, PHS= 0.041,-0.230, 0.017, RAW= 145.5, 13.2, CAL= 146.1, 9.8, ROT= 63.9, -9.8 2021-05-18T16:46:06.958Z,1621356366.958 [DAT](INFO): got valid direction response: 16:45:40.8789 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 497,-0.10,-0.469,-0.788,-0.482,-0.514, PHS= 0.041,-0.230, 0.017, RAW= 145.5, 13.2, CAL= 146.1, 9.8, ROT= 63.9, -9.8 2021-05-18T16:46:06.958Z,1621356366.958 [DAT](INFO): #Rx 5: Read range and direction messages. 2021-05-18T16:46:07.004Z,1621356367.004 [DAT](INFO): direction in vehicle frame: [ 0.433520 forward, 0.884923 starboard, -0.170209 keelward ] 2021-05-18T16:46:07.004Z,1621356367.004 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone 2021-05-18T16:46:07.004Z,1621356367.004 [DAT](INFO): publishing direction and range info 2021-05-18T16:46:07.019Z,1621356367.019 [DAT](INFO): checking for new query: numPingsReceived=5 elapsed TxPingTime=4.571237 2021-05-18T16:46:07.039Z,1621356367.039 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:46:07.040Z,1621356367.040 [lab_range_test:A.](INFO): direction in vehicle frame: [ 0.433520 forward, 0.884923 starboard, -0.170209 keelward ] 2021-05-18T16:46:07.040Z,1621356367.040 [lab_range_test:A.](DEBUG): processing response from DAT 2021-05-18T16:46:07.042Z,1621356367.042 [lab_range_test:A.](INFO): rotationFromVehicleToNavigationFrame_ = [ 0.998950,-0.045734,-0.002795;0.045789,0.998642,0.024847;0.001655,-0.024949,0.999687 ] 2021-05-18T16:46:07.055Z,1621356367.055 [lab_range_test:A.](INFO): rangeToContact_ = 0.500000 m 2021-05-18T16:46:07.056Z,1621356367.056 [lab_range_test:A.](INFO): direction in world frame: [ 0.473302 north, 0.868142 east, -0.149381 down ] 2021-05-18T16:46:07.057Z,1621356367.057 [lab_range_test:A.](INFO): relPosInFSK: [ 0.216760 forward, 0.442462 starboard, -0.085105 keelward ] 2021-05-18T16:46:07.057Z,1621356367.057 [lab_range_test:A.](INFO): relPosInNED: [ 0.236651 north, 0.434071 east, -0.074690 down ] 2021-05-18T16:46:07.058Z,1621356367.058 [lab_range_test:A.](DEBUG): Combining 10 samples. 2021-05-18T16:46:07.058Z,1621356367.058 [lab_range_test:A.](DEBUG): Could not read vehicle position; cannot calculate contact position. 2021-05-18T16:46:07.305Z,1621356367.305 [DAT](INFO): DAT read: Rx Time:16:45:41.3788 2021-05-18T16:46:07.306Z,1621356367.306 [DAT](INFO): received an acoustic signal 2021-05-18T16:46:07.307Z,1621356367.307 [DAT](INFO): DAT read: Bearing 64.5, -8.9 (Local) 2021-05-18T16:46:07.307Z,1621356367.307 [DAT](INFO): Local bearing/azimuth received: Bearing 64.5, -8.9 (Local) 2021-05-18T16:46:07.309Z,1621356367.309 [DAT](INFO): DAT read: Range 7 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0 2021-05-18T16:46:07.314Z,1621356367.314 [DAT](INFO): DAT read: 16:45:41.3788 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 496, 0.02,-0.494,-0.776,-0.505,-0.537, PHS= 0.040,-0.195, 0.017, RAW= 145.0, 12.3, CAL= 145.5, 8.9, ROT= 64.5, -8.9 2021-05-18T16:46:07.315Z,1621356367.315 [DAT](INFO): got valid direction response: 16:45:41.3788 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 496, 0.02,-0.494,-0.776,-0.505,-0.537, PHS= 0.040,-0.195, 0.017, RAW= 145.0, 12.3, CAL= 145.5, 8.9, ROT= 64.5, -8.9 2021-05-18T16:46:07.316Z,1621356367.316 [DAT](INFO): #Rx 6: Read range and direction messages. 2021-05-18T16:46:07.317Z,1621356367.317 [DAT](INFO): direction in vehicle frame: [ 0.425328 forward, 0.891718 starboard, -0.154710 keelward ] 2021-05-18T16:46:07.317Z,1621356367.317 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone 2021-05-18T16:46:07.317Z,1621356367.317 [DAT](INFO): publishing direction and range info 2021-05-18T16:46:07.332Z,1621356367.332 [DAT](INFO): checking for new query: numPingsReceived=6 elapsed TxPingTime=4.884185 2021-05-18T16:46:07.356Z,1621356367.356 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:46:07.357Z,1621356367.357 [lab_range_test:A.](INFO): direction in vehicle frame: [ 0.425328 forward, 0.891718 starboard, -0.154710 keelward ] 2021-05-18T16:46:07.357Z,1621356367.357 [lab_range_test:A.](DEBUG): processing response from DAT 2021-05-18T16:46:07.371Z,1621356367.371 [lab_range_test:A.](INFO): rotationFromVehicleToNavigationFrame_ = [ 0.998928,-0.046204,-0.002763;0.046259,0.998621,0.024813;0.001613,-0.024914,0.999688 ] 2021-05-18T16:46:07.383Z,1621356367.383 [lab_range_test:A.](INFO): rangeToContact_ = 0.300000 m 2021-05-18T16:46:07.386Z,1621356367.386 [lab_range_test:A.](INFO): direction in world frame: [ 0.465872 north, 0.874691 east, -0.133712 down ] 2021-05-18T16:46:07.395Z,1621356367.395 [lab_range_test:A.](INFO): relPosInFSK: [ 0.127598 forward, 0.267515 starboard, -0.046413 keelward ] 2021-05-18T16:46:07.396Z,1621356367.396 [lab_range_test:A.](INFO): relPosInNED: [ 0.139762 north, 0.262407 east, -0.040113 down ] 2021-05-18T16:46:07.396Z,1621356367.396 [lab_range_test:A.](DEBUG): Combining 10 samples. 2021-05-18T16:46:07.396Z,1621356367.396 [lab_range_test:A.](DEBUG): Could not read vehicle position; cannot calculate contact position. 2021-05-18T16:46:07.703Z,1621356367.703 [DAT](INFO): DAT read: Rx Time:16:45:41.8788 2021-05-18T16:46:07.704Z,1621356367.704 [DAT](INFO): received an acoustic signal 2021-05-18T16:46:07.705Z,1621356367.705 [DAT](INFO): DAT read: Bearing 66.6, -7.9 (Local) 2021-05-18T16:46:07.705Z,1621356367.705 [DAT](INFO): Local bearing/azimuth received: Bearing 66.6, -7.9 (Local) 2021-05-18T16:46:07.723Z,1621356367.723 [DAT](INFO): DAT read: Range 7 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0 2021-05-18T16:46:07.744Z,1621356367.744 [DAT](INFO): DAT read: 16:45:41.8788 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 496, 0.11, 0.614, 0.340, 0.594, 0.564, PHS= 0.045,-0.180, 0.015, RAW= 142.9, 11.3, CAL= 143.4, 7.9, ROT= 66.6, -7.9 2021-05-18T16:46:07.745Z,1621356367.745 [DAT](INFO): got valid direction response: 16:45:41.8788 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 496, 0.11, 0.614, 0.340, 0.594, 0.564, PHS= 0.045,-0.180, 0.015, RAW= 142.9, 11.3, CAL= 143.4, 7.9, ROT= 66.6, -7.9 2021-05-18T16:46:07.746Z,1621356367.746 [DAT](INFO): #Rx 7: Read range and direction messages. 2021-05-18T16:46:07.747Z,1621356367.747 [DAT](INFO): direction in vehicle frame: [ 0.393379 forward, 0.909045 starboard, -0.137445 keelward ] 2021-05-18T16:46:07.751Z,1621356367.751 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone 2021-05-18T16:46:07.751Z,1621356367.751 [DAT](INFO): publishing direction and range info 2021-05-18T16:46:07.754Z,1621356367.754 [DAT](INFO): checking for new query: numPingsReceived=7 elapsed TxPingTime=5.306111 2021-05-18T16:46:07.762Z,1621356367.762 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:46:07.779Z,1621356367.779 [lab_range_test:A.](INFO): direction in vehicle frame: [ 0.393379 forward, 0.909045 starboard, -0.137445 keelward ] 2021-05-18T16:46:07.780Z,1621356367.780 [lab_range_test:A.](DEBUG): processing response from DAT 2021-05-18T16:46:07.782Z,1621356367.782 [lab_range_test:A.](INFO): rotationFromVehicleToNavigationFrame_ = [ 0.998932,-0.046112,-0.002798;0.046167,0.998625,0.024831;0.001649,-0.024933,0.999688 ] 2021-05-18T16:46:07.782Z,1621356367.782 [lab_range_test:A.](INFO): rangeToContact_ = 0.300000 m 2021-05-18T16:46:07.803Z,1621356367.803 [lab_range_test:A.](INFO): direction in world frame: [ 0.434700 north, 0.893082 east, -0.115930 down ] 2021-05-18T16:46:07.804Z,1621356367.804 [lab_range_test:A.](INFO): relPosInFSK: [ 0.118014 forward, 0.272713 starboard, -0.041233 keelward ] 2021-05-18T16:46:07.804Z,1621356367.804 [lab_range_test:A.](INFO): relPosInNED: [ 0.130410 north, 0.267925 east, -0.034779 down ] 2021-05-18T16:46:07.805Z,1621356367.805 [lab_range_test:A.](DEBUG): Combining 10 samples. 2021-05-18T16:46:07.805Z,1621356367.805 [lab_range_test:A.](DEBUG): Could not read vehicle position; cannot calculate contact position. 2021-05-18T16:46:08.116Z,1621356368.116 [DAT](INFO): DAT read: Rx Time:16:45:42.3787 2021-05-18T16:46:08.116Z,1621356368.116 [DAT](INFO): received an acoustic signal 2021-05-18T16:46:08.119Z,1621356368.119 [DAT](INFO): DAT read: Bearing 65.8, -7.8 (Local) 2021-05-18T16:46:08.120Z,1621356368.120 [DAT](INFO): Local bearing/azimuth received: Bearing 65.8, -7.8 (Local) 2021-05-18T16:46:08.135Z,1621356368.135 [DAT](INFO): DAT read: Range 7 to 50 : 0.2 m (trip time 0.1 ms) speed 0.0 2021-05-18T16:46:08.137Z,1621356368.137 [DAT](ERROR): #Rx 8: Read range message, but no direction. 2021-05-18T16:46:08.138Z,1621356368.138 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone 2021-05-18T16:46:08.151Z,1621356368.151 [DAT](INFO): checking for new query: numPingsReceived=8 elapsed TxPingTime=5.690676 2021-05-18T16:46:08.180Z,1621356368.180 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:46:08.181Z,1621356368.181 [lab_range_test:A.](INFO): direction in vehicle frame: [ 0.393379 forward, 0.909045 starboard, -0.137445 keelward ] 2021-05-18T16:46:08.181Z,1621356368.181 [lab_range_test:A.](DEBUG): processing response from DAT 2021-05-18T16:46:08.194Z,1621356368.194 [lab_range_test:A.](INFO): rotationFromVehicleToNavigationFrame_ = [ 0.998978,-0.045110,-0.002783;0.045166,0.998668,0.024944;0.001654,-0.025045,0.999685 ] 2021-05-18T16:46:08.194Z,1621356368.194 [lab_range_test:A.](INFO): rangeToContact_ = 0.200000 m 2021-05-18T16:46:08.212Z,1621356368.212 [lab_range_test:A.](INFO): direction in world frame: [ 0.433807 north, 0.893531 east, -0.115820 down ] 2021-05-18T16:46:08.224Z,1621356368.224 [lab_range_test:A.](INFO): relPosInFSK: [ 0.078676 forward, 0.181809 starboard, -0.027489 keelward ] 2021-05-18T16:46:08.225Z,1621356368.225 [lab_range_test:A.](INFO): relPosInNED: [ 0.086761 north, 0.178706 east, -0.023164 down ] 2021-05-18T16:46:08.225Z,1621356368.225 [lab_range_test:A.](DEBUG): Combining 10 samples. 2021-05-18T16:46:08.226Z,1621356368.226 [lab_range_test:A.](DEBUG): Could not read vehicle position; cannot calculate contact position. 2021-05-18T16:46:08.511Z,1621356368.511 [DAT](INFO): DAT read: 16:45:42.3787 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 495, 0.28,-0.936,-1.199,-0.951,-0.982, PHS= 0.042,-0.173, 0.017, RAW= 143.7, 11.2, CAL= 144.2, 7.8, ROT= 65.8, -7.8 2021-05-18T16:46:08.513Z,1621356368.513 [DAT](INFO): got valid direction response: 16:45:42.3787 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 495, 0.28,-0.936,-1.199,-0.951,-0.982, PHS= 0.042,-0.173, 0.017, RAW= 143.7, 11.2, CAL= 144.2, 7.8, ROT= 65.8, -7.8 2021-05-18T16:46:08.513Z,1621356368.513 [DAT](INFO): #Rx 9: Read direction message, but no range. 2021-05-18T16:46:08.514Z,1621356368.514 [DAT](INFO): direction in vehicle frame: [ 0.406130 forward, 0.903681 starboard, -0.135716 keelward ] 2021-05-18T16:46:08.517Z,1621356368.517 [DAT](INFO): checking for new query: numPingsReceived=9 elapsed TxPingTime=6.069385 2021-05-18T16:46:08.529Z,1621356368.529 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:46:08.911Z,1621356368.911 [DAT](INFO): DAT read: Rx Time:16:45:42.8788 2021-05-18T16:46:08.911Z,1621356368.911 [DAT](INFO): received an acoustic signal 2021-05-18T16:46:08.912Z,1621356368.912 [DAT](INFO): DAT read: Bearing 64.1, -9.5 (Local) 2021-05-18T16:46:08.913Z,1621356368.913 [DAT](INFO): Local bearing/azimuth received: Bearing 64.1, -9.5 (Local) 2021-05-18T16:46:08.915Z,1621356368.915 [DAT](INFO): DAT read: Range 7 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0 2021-05-18T16:46:08.920Z,1621356368.920 [DAT](INFO): DAT read: 16:45:42.8788 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 0, 0.50,-0.741,-1.035,-0.752,-0.784, PHS= 0.039,-0.207, 0.016, RAW= 145.3, 12.9, CAL= 145.9, 9.5, ROT= 64.1, -9.5 2021-05-18T16:46:08.921Z,1621356368.921 [DAT](INFO): got valid direction response: 16:45:42.8788 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 0, 0.50,-0.741,-1.035,-0.752,-0.784, PHS= 0.039,-0.207, 0.016, RAW= 145.3, 12.9, CAL= 145.9, 9.5, ROT= 64.1, -9.5 2021-05-18T16:46:08.921Z,1621356368.921 [DAT](INFO): #Rx 10: Read range and direction messages. 2021-05-18T16:46:08.922Z,1621356368.922 [DAT](INFO): direction in vehicle frame: [ 0.430811 forward, 0.887221 starboard, -0.165048 keelward ] 2021-05-18T16:46:08.923Z,1621356368.923 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone 2021-05-18T16:46:08.965Z,1621356368.965 [DAT](INFO): publishing direction and range info 2021-05-18T16:46:09.035Z,1621356369.035 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:46:09.048Z,1621356369.048 [lab_range_test:A.](INFO): direction in vehicle frame: [ 0.430811 forward, 0.887221 starboard, -0.165048 keelward ] 2021-05-18T16:46:09.048Z,1621356369.048 [lab_range_test:A.](DEBUG): processing response from DAT 2021-05-18T16:46:09.050Z,1621356369.050 [lab_range_test:A.](INFO): rotationFromVehicleToNavigationFrame_ = [ 0.998962,-0.045458,-0.002785;0.045513,0.998653,0.024929;0.001648,-0.025030,0.999685 ] 2021-05-18T16:46:09.051Z,1621356369.051 [lab_range_test:A.](INFO): rangeToContact_ = 0.300000 m 2021-05-18T16:46:09.068Z,1621356369.068 [lab_range_test:A.](INFO): direction in world frame: [ 0.470473 north, 0.870573 east, -0.144078 down ] 2021-05-18T16:46:09.068Z,1621356369.068 [lab_range_test:A.](INFO): relPosInFSK: [ 0.129243 forward, 0.266166 starboard, -0.049514 keelward ] 2021-05-18T16:46:09.069Z,1621356369.069 [lab_range_test:A.](INFO): relPosInNED: [ 0.141142 north, 0.261172 east, -0.043223 down ] 2021-05-18T16:46:09.069Z,1621356369.069 [lab_range_test:A.](DEBUG): Combining 10 samples. 2021-05-18T16:46:09.069Z,1621356369.069 [lab_range_test:A.](DEBUG): Could not read vehicle position; cannot calculate contact position. 2021-05-18T16:46:09.330Z,1621356369.330 [DAT](INFO): DAT read: Rx Time:16:45:43.3788 2021-05-18T16:46:09.330Z,1621356369.330 [DAT](INFO): received an acoustic signal 2021-05-18T16:46:09.331Z,1621356369.331 [DAT](INFO): DAT read: Bearing 64.4, -9.5 (Local) 2021-05-18T16:46:09.332Z,1621356369.332 [DAT](INFO): Local bearing/azimuth received: Bearing 64.4, -9.5 (Local) 2021-05-18T16:46:09.334Z,1621356369.334 [DAT](INFO): DAT read: Range 7 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0 2021-05-18T16:46:09.338Z,1621356369.338 [DAT](INFO): DAT read: 16:45:43.3788 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 496,-0.28,-2.982, 2.970,-2.998,-3.031, PHS= 0.045,-0.238, 0.018, RAW= 145.0, 12.9, CAL= 145.6, 9.5, ROT= 64.4, -9.5 2021-05-18T16:46:09.339Z,1621356369.339 [DAT](INFO): got valid direction response: 16:45:43.3788 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 496,-0.28,-2.982, 2.970,-2.998,-3.031, PHS= 0.045,-0.238, 0.018, RAW= 145.0, 12.9, CAL= 145.6, 9.5, ROT= 64.4, -9.5 2021-05-18T16:46:09.340Z,1621356369.340 [DAT](INFO): #Rx 11: Read range and direction messages. 2021-05-18T16:46:09.341Z,1621356369.341 [DAT](INFO): direction in vehicle frame: [ 0.426160 forward, 0.889464 starboard, -0.165048 keelward ] 2021-05-18T16:46:09.341Z,1621356369.341 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone 2021-05-18T16:46:09.342Z,1621356369.342 [DAT](INFO): publishing direction and range info 2021-05-18T16:46:09.396Z,1621356369.396 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:46:09.397Z,1621356369.397 [lab_range_test:A.](INFO): direction in vehicle frame: [ 0.426160 forward, 0.889464 starboard, -0.165048 keelward ] 2021-05-18T16:46:09.397Z,1621356369.397 [lab_range_test:A.](DEBUG): processing response from DAT 2021-05-18T16:46:09.414Z,1621356369.414 [lab_range_test:A.](INFO): rotationFromVehicleToNavigationFrame_ = [ 0.998913,-0.046542,-0.002731;0.046596,0.998605,0.024818;0.001572,-0.024918,0.999688 ] 2021-05-18T16:46:09.423Z,1621356369.423 [lab_range_test:A.](INFO): rangeToContact_ = 0.300000 m 2021-05-18T16:46:09.424Z,1621356369.424 [lab_range_test:A.](INFO): direction in world frame: [ 0.466882 north, 0.872502 east, -0.144085 down ] 2021-05-18T16:46:09.425Z,1621356369.425 [lab_range_test:A.](INFO): relPosInFSK: [ 0.127848 forward, 0.266839 starboard, -0.049514 keelward ] 2021-05-18T16:46:09.425Z,1621356369.425 [lab_range_test:A.](INFO): relPosInNED: [ 0.140065 north, 0.261751 east, -0.043226 down ] 2021-05-18T16:46:09.426Z,1621356369.426 [lab_range_test:A.](DEBUG): Combining 10 samples. 2021-05-18T16:46:09.426Z,1621356369.426 [lab_range_test:A.](DEBUG): Could not read vehicle position; cannot calculate contact position. 2021-05-18T16:46:09.768Z,1621356369.768 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:46:10.149Z,1621356370.149 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:46:10.546Z,1621356370.546 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:46:10.952Z,1621356370.952 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:46:11.358Z,1621356371.358 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:46:11.778Z,1621356371.778 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:46:12.150Z,1621356372.150 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:46:12.573Z,1621356372.573 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:46:12.990Z,1621356372.990 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:46:13.380Z,1621356373.380 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:46:13.769Z,1621356373.769 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:46:14.173Z,1621356374.173 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:46:14.585Z,1621356374.585 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:46:14.586Z,1621356374.586 [lab_range_test:A.](INFO): update period (5.000000 s) has elapsed, querying... 2021-05-18T16:46:14.586Z,1621356374.586 [lab_range_test:A.](INFO): *** querying DAT *** 2021-05-18T16:46:14.974Z,1621356374.974 [DAT](INFO): ****** received valid address query ****** 2021-05-18T16:46:14.974Z,1621356374.974 [DAT](INFO): ****** received valid ping request ****** 2021-05-18T16:46:14.975Z,1621356374.975 [DAT](INFO): Querying Benthos address 50 with 10 pings in terminal homing one-way mode. 2021-05-18T16:46:14.976Z,1621356374.976 [DAT](INFO): ****** ping requested ****** 2021-05-18T16:46:15.030Z,1621356375.030 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:46:15.385Z,1621356375.385 [DAT](INFO): DAT read: user:20> 2021-05-18T16:46:15.385Z,1621356375.385 [DAT](INFO): DAT read: Tx time:16:45:49.6990 2021-05-18T16:46:15.386Z,1621356375.386 [DAT](INFO): Ping request sent. 2021-05-18T16:46:15.386Z,1621356375.386 [DAT](INFO): transmitted an acoustic signal 2021-05-18T16:46:15.386Z,1621356375.386 [DAT](INFO): publishing transmit ping time 2021-05-18T16:46:15.387Z,1621356375.387 [DAT](INFO): checking for new query: numPingsReceived=0 elapsed TxPingTime=0.000797 2021-05-18T16:46:15.454Z,1621356375.454 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:46:15.797Z,1621356375.797 [DAT](INFO): checking for new query: numPingsReceived=0 elapsed TxPingTime=0.411148 2021-05-18T16:46:15.809Z,1621356375.809 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:46:16.197Z,1621356376.197 [DAT](INFO): checking for new query: numPingsReceived=0 elapsed TxPingTime=0.810746 2021-05-18T16:46:16.223Z,1621356376.223 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:46:16.590Z,1621356376.590 [DAT](INFO): checking for new query: numPingsReceived=0 elapsed TxPingTime=1.204263 2021-05-18T16:46:16.598Z,1621356376.598 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:46:16.991Z,1621356376.991 [DAT](INFO): checking for new query: numPingsReceived=0 elapsed TxPingTime=1.604824 2021-05-18T16:46:16.998Z,1621356376.998 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:46:17.412Z,1621356377.412 [DAT](INFO): checking for new query: numPingsReceived=0 elapsed TxPingTime=2.026463 2021-05-18T16:46:17.426Z,1621356377.426 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:46:17.799Z,1621356377.799 [DAT](INFO): DAT read: Rx Time:16:45:51.8287 2021-05-18T16:46:17.800Z,1621356377.800 [DAT](INFO): received an acoustic signal 2021-05-18T16:46:17.801Z,1621356377.801 [DAT](INFO): DAT read: Bearing 64.0, -8.9 (Local) 2021-05-18T16:46:17.801Z,1621356377.801 [DAT](INFO): Local bearing/azimuth received: Bearing 64.0, -8.9 (Local) 2021-05-18T16:46:17.803Z,1621356377.803 [DAT](INFO): DAT read: Range 7 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0 2021-05-18T16:46:17.808Z,1621356377.808 [DAT](INFO): DAT read: 16:45:51.8287 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 208,-0.09,-0.024,-0.340,-0.036,-0.072, PHS= 0.044,-0.224, 0.021, RAW= 145.5, 12.3, CAL= 146.0, 8.9, ROT= 64.0, -8.9 2021-05-18T16:46:17.809Z,1621356377.809 [DAT](INFO): got valid direction response: 16:45:51.8287 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 208,-0.09,-0.024,-0.340,-0.036,-0.072, PHS= 0.044,-0.224, 0.021, RAW= 145.5, 12.3, CAL= 146.0, 8.9, ROT= 64.0, -8.9 2021-05-18T16:46:17.810Z,1621356377.810 [DAT](INFO): #Rx 1: Read range and direction messages. 2021-05-18T16:46:17.811Z,1621356377.811 [DAT](INFO): direction in vehicle frame: [ 0.433093 forward, 0.887972 starboard, -0.154710 keelward ] 2021-05-18T16:46:17.811Z,1621356377.811 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone 2021-05-18T16:46:17.812Z,1621356377.812 [DAT](INFO): publishing direction and range info 2021-05-18T16:46:17.814Z,1621356377.814 [DAT](INFO): checking for new query: numPingsReceived=1 elapsed TxPingTime=2.428575 2021-05-18T16:46:17.866Z,1621356377.866 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:46:17.884Z,1621356377.884 [lab_range_test:A.](INFO): direction in vehicle frame: [ 0.433093 forward, 0.887972 starboard, -0.154710 keelward ] 2021-05-18T16:46:17.884Z,1621356377.884 [lab_range_test:A.](DEBUG): processing response from DAT 2021-05-18T16:46:17.886Z,1621356377.886 [lab_range_test:A.](INFO): rotationFromVehicleToNavigationFrame_ = [ 0.998958,-0.045567,-0.002694;0.045620,0.998649,0.024889;0.001556,-0.024986,0.999687 ] 2021-05-18T16:46:17.887Z,1621356377.886 [lab_range_test:A.](INFO): rangeToContact_ = 0.300000 m 2021-05-18T16:46:17.896Z,1621356377.896 [lab_range_test:A.](INFO): direction in world frame: [ 0.472910 north, 0.870904 east, -0.133728 down ] 2021-05-18T16:46:17.897Z,1621356377.897 [lab_range_test:A.](INFO): relPosInFSK: [ 0.129928 forward, 0.266392 starboard, -0.046413 keelward ] 2021-05-18T16:46:17.897Z,1621356377.897 [lab_range_test:A.](INFO): relPosInNED: [ 0.141873 north, 0.261271 east, -0.040118 down ] 2021-05-18T16:46:17.898Z,1621356377.898 [lab_range_test:A.](DEBUG): Combining 10 samples. 2021-05-18T16:46:17.898Z,1621356377.898 [lab_range_test:A.](DEBUG): Could not read vehicle position; cannot calculate contact position. 2021-05-18T16:46:18.213Z,1621356378.213 [DAT](INFO): DAT read: Rx Time:16:45:52.3286 2021-05-18T16:46:18.214Z,1621356378.214 [DAT](INFO): received an acoustic signal 2021-05-18T16:46:18.215Z,1621356378.215 [DAT](INFO): DAT read: Bearing 65.0, -9.1 (Local) 2021-05-18T16:46:18.215Z,1621356378.215 [DAT](INFO): Local bearing/azimuth received: Bearing 65.0, -9.1 (Local) 2021-05-18T16:46:18.217Z,1621356378.217 [DAT](INFO): DAT read: Range 7 to 50 : 0.2 m (trip time 0.1 ms) speed 0.0 2021-05-18T16:46:18.222Z,1621356378.222 [DAT](INFO): DAT read: 16:45:52.3286 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 495,-0.00,-0.121,-0.425,-0.137,-0.168, PHS= 0.043,-0.213, 0.016, RAW= 144.5, 12.5, CAL= 145.0, 9.1, ROT= 65.0, -9.1 2021-05-18T16:46:18.231Z,1621356378.231 [DAT](INFO): got valid direction response: 16:45:52.3286 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 495,-0.00,-0.121,-0.425,-0.137,-0.168, PHS= 0.043,-0.213, 0.016, RAW= 144.5, 12.5, CAL= 145.0, 9.1, ROT= 65.0, -9.1 2021-05-18T16:46:18.232Z,1621356378.232 [DAT](INFO): #Rx 2: Read range and direction messages. 2021-05-18T16:46:18.233Z,1621356378.233 [DAT](INFO): direction in vehicle frame: [ 0.417299 forward, 0.894901 starboard, -0.158158 keelward ] 2021-05-18T16:46:18.233Z,1621356378.233 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone 2021-05-18T16:46:18.233Z,1621356378.233 [DAT](INFO): publishing direction and range info 2021-05-18T16:46:18.249Z,1621356378.249 [DAT](INFO): checking for new query: numPingsReceived=2 elapsed TxPingTime=2.862725 2021-05-18T16:46:18.278Z,1621356378.278 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:46:18.286Z,1621356378.286 [lab_range_test:A.](INFO): direction in vehicle frame: [ 0.417299 forward, 0.894901 starboard, -0.158158 keelward ] 2021-05-18T16:46:18.286Z,1621356378.286 [lab_range_test:A.](DEBUG): processing response from DAT 2021-05-18T16:46:18.300Z,1621356378.300 [lab_range_test:A.](INFO): rotationFromVehicleToNavigationFrame_ = [ 0.998964,-0.045415,-0.002807;0.045471,0.998656,0.024889;0.001673,-0.024990,0.999686 ] 2021-05-18T16:46:18.301Z,1621356378.301 [lab_range_test:A.](INFO): rangeToContact_ = 0.200000 m 2021-05-18T16:46:18.301Z,1621356378.301 [lab_range_test:A.](INFO): direction in world frame: [ 0.457294 north, 0.878698 east, -0.137007 down ] 2021-05-18T16:46:18.302Z,1621356378.302 [lab_range_test:A.](INFO): relPosInFSK: [ 0.083460 forward, 0.178980 starboard, -0.031632 keelward ] 2021-05-18T16:46:18.309Z,1621356378.309 [lab_range_test:A.](INFO): relPosInNED: [ 0.091459 north, 0.175740 east, -0.027401 down ] 2021-05-18T16:46:18.310Z,1621356378.310 [lab_range_test:A.](DEBUG): Combining 10 samples. 2021-05-18T16:46:18.310Z,1621356378.310 [lab_range_test:A.](DEBUG): Could not read vehicle position; cannot calculate contact position. 2021-05-18T16:46:18.629Z,1621356378.629 [DAT](INFO): DAT read: Rx Time:16:45:52.8286 2021-05-18T16:46:18.629Z,1621356378.629 [DAT](INFO): received an acoustic signal 2021-05-18T16:46:18.631Z,1621356378.631 [DAT](INFO): DAT read: Bearing 65.6, -8.3 (Local) 2021-05-18T16:46:18.631Z,1621356378.631 [DAT](INFO): Local bearing/azimuth received: Bearing 65.6, -8.3 (Local) 2021-05-18T16:46:18.633Z,1621356378.633 [DAT](INFO): DAT read: Range 7 to 50 : 0.2 m (trip time 0.1 ms) speed 0.0 2021-05-18T16:46:18.638Z,1621356378.638 [DAT](INFO): DAT read: 16:45:52.8286 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 511, 0.14, 0.255,-0.019, 0.239, 0.208, PHS= 0.043,-0.183, 0.016, RAW= 143.9, 11.6, CAL= 144.4, 8.3, ROT= 65.6, -8.3 2021-05-18T16:46:18.642Z,1621356378.642 [DAT](INFO): got valid direction response: 16:45:52.8286 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 511, 0.14, 0.255,-0.019, 0.239, 0.208, PHS= 0.043,-0.183, 0.016, RAW= 143.9, 11.6, CAL= 144.4, 8.3, ROT= 65.6, -8.3 2021-05-18T16:46:18.644Z,1621356378.644 [DAT](INFO): #Rx 3: Read range and direction messages. 2021-05-18T16:46:18.645Z,1621356378.645 [DAT](INFO): direction in vehicle frame: [ 0.408778 forward, 0.901145 starboard, -0.144356 keelward ] 2021-05-18T16:46:18.645Z,1621356378.645 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone 2021-05-18T16:46:18.645Z,1621356378.645 [DAT](INFO): publishing direction and range info 2021-05-18T16:46:18.673Z,1621356378.673 [DAT](INFO): checking for new query: numPingsReceived=3 elapsed TxPingTime=3.287046 2021-05-18T16:46:18.701Z,1621356378.701 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:46:18.702Z,1621356378.702 [lab_range_test:A.](INFO): direction in vehicle frame: [ 0.408778 forward, 0.901145 starboard, -0.144356 keelward ] 2021-05-18T16:46:18.702Z,1621356378.702 [lab_range_test:A.](DEBUG): processing response from DAT 2021-05-18T16:46:18.713Z,1621356378.713 [lab_range_test:A.](INFO): rotationFromVehicleToNavigationFrame_ = [ 0.998899,-0.046826,-0.002766;0.046880,0.998594,0.024733;0.001604,-0.024835,0.999690 ] 2021-05-18T16:46:18.713Z,1621356378.713 [lab_range_test:A.](INFO): rangeToContact_ = 0.200000 m 2021-05-18T16:46:18.714Z,1621356378.714 [lab_range_test:A.](INFO): direction in world frame: [ 0.450342 north, 0.884322 east, -0.123155 down ] 2021-05-18T16:46:18.723Z,1621356378.723 [lab_range_test:A.](INFO): relPosInFSK: [ 0.081756 forward, 0.180229 starboard, -0.028871 keelward ] 2021-05-18T16:46:18.724Z,1621356378.724 [lab_range_test:A.](INFO): relPosInNED: [ 0.090068 north, 0.176864 east, -0.024631 down ] 2021-05-18T16:46:18.724Z,1621356378.724 [lab_range_test:A.](DEBUG): Combining 10 samples. 2021-05-18T16:46:18.724Z,1621356378.724 [lab_range_test:A.](DEBUG): Could not read vehicle position; cannot calculate contact position. 2021-05-18T16:46:19.030Z,1621356379.030 [DAT](INFO): checking for new query: numPingsReceived=3 elapsed TxPingTime=3.643639 2021-05-18T16:46:19.053Z,1621356379.053 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:46:19.416Z,1621356379.416 [DAT](INFO): DAT read: Rx Time:16:45:53.3285 2021-05-18T16:46:19.416Z,1621356379.416 [DAT](INFO): received an acoustic signal 2021-05-18T16:46:19.417Z,1621356379.417 [DAT](INFO): DAT read: Bearing 65.8, -7.6 (Local) 2021-05-18T16:46:19.418Z,1621356379.418 [DAT](INFO): Local bearing/azimuth received: Bearing 65.8, -7.6 (Local) 2021-05-18T16:46:19.420Z,1621356379.420 [DAT](INFO): DAT read: Range 7 to 50 : 0.0 m (trip time 0.0 ms) speed 0.0 2021-05-18T16:46:19.420Z,1621356379.420 [DAT](INFO): unknown deviceResponse_: Range 7 to 50 : 0.0 m (trip time 0.0 ms) speed 0.0 2021-05-18T16:46:19.425Z,1621356379.425 [DAT](INFO): DAT read: 16:45:53.3285 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 510, 0.28,-0.564,-0.827,-0.579,-0.611, PHS= 0.043,-0.172, 0.017, RAW= 143.7, 11.0, CAL= 144.2, 7.6, ROT= 65.8, -7.6 2021-05-18T16:46:19.426Z,1621356379.426 [DAT](INFO): got valid direction response: 16:45:53.3285 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 510, 0.28,-0.564,-0.827,-0.579,-0.611, PHS= 0.043,-0.172, 0.017, RAW= 143.7, 11.0, CAL= 144.2, 7.6, ROT= 65.8, -7.6 2021-05-18T16:46:19.426Z,1621356379.426 [DAT](INFO): #Rx 4: Read direction message, but no range. 2021-05-18T16:46:19.428Z,1621356379.428 [DAT](INFO): direction in vehicle frame: [ 0.406322 forward, 0.904108 starboard, -0.132256 keelward ] 2021-05-18T16:46:19.428Z,1621356379.428 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone 2021-05-18T16:46:19.431Z,1621356379.431 [DAT](INFO): checking for new query: numPingsReceived=4 elapsed TxPingTime=4.044724 2021-05-18T16:46:19.450Z,1621356379.450 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:46:19.819Z,1621356379.819 [DAT](INFO): DAT read: Rx Time:16:45:53.8286 2021-05-18T16:46:19.819Z,1621356379.819 [DAT](INFO): received an acoustic signal 2021-05-18T16:46:19.820Z,1621356379.820 [DAT](INFO): DAT read: Bearing 65.7, -8.7 (Local) 2021-05-18T16:46:19.821Z,1621356379.821 [DAT](INFO): Local bearing/azimuth received: Bearing 65.7, -8.7 (Local) 2021-05-18T16:46:19.823Z,1621356379.823 [DAT](INFO): DAT read: Range 7 to 50 : 0.2 m (trip time 0.1 ms) speed 0.0 2021-05-18T16:46:19.828Z,1621356379.828 [DAT](INFO): DAT read: 16:45:53.8286 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 511, 0.50, 0.300, 0.027, 0.285, 0.255, PHS= 0.041,-0.184, 0.014, RAW= 143.8, 12.1, CAL= 144.3, 8.7, ROT= 65.7, -8.7 2021-05-18T16:46:19.829Z,1621356379.829 [DAT](INFO): got valid direction response: 16:45:53.8286 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 511, 0.50, 0.300, 0.027, 0.285, 0.255, PHS= 0.041,-0.184, 0.014, RAW= 143.8, 12.1, CAL= 144.3, 8.7, ROT= 65.7, -8.7 2021-05-18T16:46:19.829Z,1621356379.829 [DAT](INFO): #Rx 5: Read range and direction messages. 2021-05-18T16:46:19.830Z,1621356379.830 [DAT](INFO): direction in vehicle frame: [ 0.406779 forward, 0.900917 starboard, -0.151261 keelward ] 2021-05-18T16:46:19.830Z,1621356379.830 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone 2021-05-18T16:46:19.830Z,1621356379.830 [DAT](INFO): publishing direction and range info 2021-05-18T16:46:19.866Z,1621356379.866 [DAT](INFO): checking for new query: numPingsReceived=5 elapsed TxPingTime=4.479869 2021-05-18T16:46:19.920Z,1621356379.920 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:46:19.922Z,1621356379.922 [lab_range_test:A.](INFO): direction in vehicle frame: [ 0.406779 forward, 0.900917 starboard, -0.151261 keelward ] 2021-05-18T16:46:19.922Z,1621356379.922 [lab_range_test:A.](DEBUG): processing response from DAT 2021-05-18T16:46:19.932Z,1621356379.932 [lab_range_test:A.](INFO): rotationFromVehicleToNavigationFrame_ = [ 0.998967,-0.045355,-0.002871;0.045413,0.998659,0.024856;0.001740,-0.024961,0.999687 ] 2021-05-18T16:46:19.932Z,1621356379.932 [lab_range_test:A.](INFO): rangeToContact_ = 0.200000 m 2021-05-18T16:46:19.933Z,1621356379.933 [lab_range_test:A.](INFO): direction in world frame: [ 0.447009 north, 0.885035 east, -0.129988 down ] 2021-05-18T16:46:19.934Z,1621356379.934 [lab_range_test:A.](INFO): relPosInFSK: [ 0.081356 forward, 0.180183 starboard, -0.030252 keelward ] 2021-05-18T16:46:19.935Z,1621356379.935 [lab_range_test:A.](INFO): relPosInNED: [ 0.089402 north, 0.177007 east, -0.025998 down ] 2021-05-18T16:46:19.943Z,1621356379.943 [lab_range_test:A.](DEBUG): Combining 10 samples. 2021-05-18T16:46:19.943Z,1621356379.943 [lab_range_test:A.](DEBUG): Could not read vehicle position; cannot calculate contact position. 2021-05-18T16:46:20.233Z,1621356380.233 [DAT](INFO): DAT read: Rx Time:16:45:54.3286 2021-05-18T16:46:20.234Z,1621356380.234 [DAT](INFO): received an acoustic signal 2021-05-18T16:46:20.235Z,1621356380.235 [DAT](INFO): DAT read: Bearing 64.2, -9.4 (Local) 2021-05-18T16:46:20.235Z,1621356380.235 [DAT](INFO): Local bearing/azimuth received: Bearing 64.2, -9.4 (Local) 2021-05-18T16:46:20.237Z,1621356380.237 [DAT](INFO): DAT read: Range 7 to 50 : 0.2 m (trip time 0.1 ms) speed 0.0 2021-05-18T16:46:20.242Z,1621356380.242 [DAT](INFO): DAT read: 16:45:54.3286 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 511,-0.27,-2.520,-2.849,-2.535,-2.569, PHS= 0.045,-0.236, 0.019, RAW= 145.3, 12.8, CAL= 145.8, 9.4, ROT= 64.2, -9.4 2021-05-18T16:46:20.246Z,1621356380.246 [DAT](INFO): got valid direction response: 16:45:54.3286 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 511,-0.27,-2.520,-2.849,-2.535,-2.569, PHS= 0.045,-0.236, 0.019, RAW= 145.3, 12.8, CAL= 145.8, 9.4, ROT= 64.2, -9.4 2021-05-18T16:46:20.248Z,1621356380.248 [DAT](INFO): #Rx 6: Read range and direction messages. 2021-05-18T16:46:20.249Z,1621356380.249 [DAT](INFO): direction in vehicle frame: [ 0.429387 forward, 0.888229 starboard, -0.163326 keelward ] 2021-05-18T16:46:20.250Z,1621356380.250 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone 2021-05-18T16:46:20.250Z,1621356380.250 [DAT](INFO): publishing direction and range info 2021-05-18T16:46:20.253Z,1621356380.253 [DAT](INFO): checking for new query: numPingsReceived=6 elapsed TxPingTime=4.867052 2021-05-18T16:46:20.260Z,1621356380.260 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:46:20.262Z,1621356380.262 [lab_range_test:A.](INFO): direction in vehicle frame: [ 0.429387 forward, 0.888229 starboard, -0.163326 keelward ] 2021-05-18T16:46:20.262Z,1621356380.262 [lab_range_test:A.](DEBUG): processing response from DAT 2021-05-18T16:46:20.300Z,1621356380.300 [lab_range_test:A.](INFO): rotationFromVehicleToNavigationFrame_ = [ 0.998914,-0.046516,-0.002725;0.046570,0.998607,0.024801;0.001568,-0.024901,0.999689 ] 2021-05-18T16:46:20.301Z,1621356380.301 [lab_range_test:A.](INFO): rangeToContact_ = 0.200000 m 2021-05-18T16:46:20.301Z,1621356380.301 [lab_range_test:A.](INFO): direction in world frame: [ 0.470029 north, 0.871086 east, -0.142416 down ] 2021-05-18T16:46:20.302Z,1621356380.302 [lab_range_test:A.](INFO): relPosInFSK: [ 0.085877 forward, 0.177646 starboard, -0.032665 keelward ] 2021-05-18T16:46:20.303Z,1621356380.303 [lab_range_test:A.](INFO): relPosInNED: [ 0.094006 north, 0.174217 east, -0.028483 down ] 2021-05-18T16:46:20.311Z,1621356380.311 [lab_range_test:A.](DEBUG): Combining 10 samples. 2021-05-18T16:46:20.311Z,1621356380.311 [lab_range_test:A.](DEBUG): Could not read vehicle position; cannot calculate contact position. 2021-05-18T16:46:20.654Z,1621356380.654 [DAT](INFO): DAT read: Rx Time:16:45:54.8287 2021-05-18T16:46:20.654Z,1621356380.654 [DAT](INFO): received an acoustic signal 2021-05-18T16:46:20.656Z,1621356380.656 [DAT](INFO): DAT read: Bearing 83.2, -1.2 (Local) 2021-05-18T16:46:20.656Z,1621356380.656 [DAT](INFO): Local bearing/azimuth received: Bearing 83.2, -1.2 (Local) 2021-05-18T16:46:20.658Z,1621356380.658 [DAT](INFO): DAT read: Range 7 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0 2021-05-18T16:46:20.692Z,1621356380.692 [DAT](INFO): DAT read: 16:45:54.8287 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 0, 0.93, 0.952,-0.296, 0.444, 0.430, PHS= 0.518,-0.682,-0.001, RAW= 124.5, 3.2, CAL= 126.8, 1.2, ROT= 83.2, -1.2 2021-05-18T16:46:20.693Z,1621356380.693 [DAT](INFO): got valid direction response: 16:45:54.8287 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 0, 0.93, 0.952,-0.296, 0.444, 0.430, PHS= 0.518,-0.682,-0.001, RAW= 124.5, 3.2, CAL= 126.8, 1.2, ROT= 83.2, -1.2 2021-05-18T16:46:20.694Z,1621356380.694 [DAT](INFO): #Rx 7: Read range and direction messages. 2021-05-18T16:46:20.703Z,1621356380.703 [DAT](INFO): direction in vehicle frame: [ 0.118378 forward, 0.992748 starboard, -0.020942 keelward ] 2021-05-18T16:46:20.703Z,1621356380.703 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone 2021-05-18T16:46:20.704Z,1621356380.704 [DAT](INFO): publishing direction and range info 2021-05-18T16:46:20.706Z,1621356380.706 [DAT](INFO): checking for new query: numPingsReceived=7 elapsed TxPingTime=5.320544 2021-05-18T16:46:20.730Z,1621356380.730 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:46:20.735Z,1621356380.735 [lab_range_test:A.](INFO): direction in vehicle frame: [ 0.118378 forward, 0.992748 starboard, -0.020942 keelward ] 2021-05-18T16:46:20.736Z,1621356380.736 [lab_range_test:A.](DEBUG): processing response from DAT 2021-05-18T16:46:20.738Z,1621356380.738 [lab_range_test:A.](INFO): rotationFromVehicleToNavigationFrame_ = [ 0.998912,-0.046561,-0.002718;0.046614,0.998605,0.024799;0.001560,-0.024899,0.999689 ] 2021-05-18T16:46:20.738Z,1621356380.738 [lab_range_test:A.](INFO): rangeToContact_ = 0.300000 m 2021-05-18T16:46:20.751Z,1621356380.751 [lab_range_test:A.](INFO): direction in world frame: [ 0.164492 north, 0.986373 east, 0.003362 down ] 2021-05-18T16:46:20.752Z,1621356380.752 [lab_range_test:A.](INFO): relPosInFSK: [ 0.035513 forward, 0.297824 starboard, -0.006283 keelward ] 2021-05-18T16:46:20.753Z,1621356380.753 [lab_range_test:A.](INFO): relPosInNED: [ 0.049348 north, 0.295912 east, 0.001008 down ] 2021-05-18T16:46:20.753Z,1621356380.753 [lab_range_test:A.](DEBUG): Combining 10 samples. 2021-05-18T16:46:20.753Z,1621356380.753 [lab_range_test:A.](DEBUG): Could not read vehicle position; cannot calculate contact position. 2021-05-18T16:46:21.068Z,1621356381.068 [DAT](INFO): DAT read: Rx Time:16:45:55.3286 2021-05-18T16:46:21.069Z,1621356381.069 [DAT](INFO): received an acoustic signal 2021-05-18T16:46:21.071Z,1621356381.071 [DAT](INFO): DAT read: Bearing 63.8, -9.5 (Local) 2021-05-18T16:46:21.071Z,1621356381.071 [DAT](INFO): Local bearing/azimuth received: Bearing 63.8, -9.5 (Local) 2021-05-18T16:46:21.075Z,1621356381.075 [DAT](INFO): DAT read: Range 7 to 50 : 0.2 m (trip time 0.1 ms) speed 0.0 2021-05-18T16:46:21.076Z,1621356381.076 [DAT](ERROR): #Rx 8: Read range message, but no direction. 2021-05-18T16:46:21.076Z,1621356381.076 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone 2021-05-18T16:46:21.078Z,1621356381.078 [DAT](INFO): checking for new query: numPingsReceived=8 elapsed TxPingTime=5.691963 2021-05-18T16:46:21.143Z,1621356381.143 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:46:21.152Z,1621356381.152 [lab_range_test:A.](INFO): direction in vehicle frame: [ 0.118378 forward, 0.992748 starboard, -0.020942 keelward ] 2021-05-18T16:46:21.152Z,1621356381.152 [lab_range_test:A.](DEBUG): processing response from DAT 2021-05-18T16:46:21.154Z,1621356381.154 [lab_range_test:A.](INFO): rotationFromVehicleToNavigationFrame_ = [ 0.998900,-0.046816,-0.002657;0.046868,0.998593,0.024799;0.001493,-0.024896,0.999689 ] 2021-05-18T16:46:21.154Z,1621356381.154 [lab_range_test:A.](INFO): rangeToContact_ = 0.200000 m 2021-05-18T16:46:21.164Z,1621356381.164 [lab_range_test:A.](INFO): direction in world frame: [ 0.164744 north, 0.986331 east, 0.003368 down ] 2021-05-18T16:46:21.164Z,1621356381.164 [lab_range_test:A.](INFO): relPosInFSK: [ 0.023676 forward, 0.198550 starboard, -0.004188 keelward ] 2021-05-18T16:46:21.165Z,1621356381.165 [lab_range_test:A.](INFO): relPosInNED: [ 0.032949 north, 0.197266 east, 0.000674 down ] 2021-05-18T16:46:21.165Z,1621356381.165 [lab_range_test:A.](DEBUG): Combining 10 samples. 2021-05-18T16:46:21.165Z,1621356381.165 [lab_range_test:A.](DEBUG): Could not read vehicle position; cannot calculate contact position. 2021-05-18T16:46:21.438Z,1621356381.438 [DAT](INFO): DAT read: 16:45:55.3286 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 495,-0.01,-1.766,-2.064,-1.776,-1.809, PHS= 0.038,-0.211, 0.017, RAW= 145.7, 12.9, CAL= 146.2, 9.5, ROT= 63.8, -9.5 2021-05-18T16:46:21.439Z,1621356381.439 [DAT](INFO): got valid direction response: 16:45:55.3286 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 495,-0.01,-1.766,-2.064,-1.776,-1.809, PHS= 0.038,-0.211, 0.017, RAW= 145.7, 12.9, CAL= 146.2, 9.5, ROT= 63.8, -9.5 2021-05-18T16:46:21.440Z,1621356381.440 [DAT](INFO): #Rx 9: Read direction message, but no range. 2021-05-18T16:46:21.441Z,1621356381.441 [DAT](INFO): direction in vehicle frame: [ 0.435451 forward, 0.884953 starboard, -0.165048 keelward ] 2021-05-18T16:46:21.444Z,1621356381.444 [DAT](INFO): checking for new query: numPingsReceived=9 elapsed TxPingTime=6.057960 2021-05-18T16:46:21.458Z,1621356381.458 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:46:21.839Z,1621356381.839 [DAT](INFO): DAT read: Rx Time:16:45:55.8287 2021-05-18T16:46:21.839Z,1621356381.839 [DAT](INFO): received an acoustic signal 2021-05-18T16:46:21.841Z,1621356381.841 [DAT](INFO): DAT read: Bearing 68.2, -9.8 (Local) 2021-05-18T16:46:21.841Z,1621356381.841 [DAT](INFO): Local bearing/azimuth received: Bearing 68.2, -9.8 (Local) 2021-05-18T16:46:21.843Z,1621356381.843 [DAT](INFO): DAT read: Range 7 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0 2021-05-18T16:46:21.852Z,1621356381.852 [DAT](INFO): DAT read: 16:45:55.8287 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 0, 0.61, 1.338, 0.803, 1.269, 1.244, PHS= 0.090,-0.398, 0.010, RAW= 141.2, 13.1, CAL= 141.8, 9.8, ROT= 68.2, -9.8 2021-05-18T16:46:21.853Z,1621356381.853 [DAT](INFO): got valid direction response: 16:45:55.8287 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 0, 0.61, 1.338, 0.803, 1.269, 1.244, PHS= 0.090,-0.398, 0.010, RAW= 141.2, 13.1, CAL= 141.8, 9.8, ROT= 68.2, -9.8 2021-05-18T16:46:21.854Z,1621356381.854 [DAT](INFO): #Rx 10: Read range and direction messages. 2021-05-18T16:46:21.863Z,1621356381.863 [DAT](INFO): direction in vehicle frame: [ 0.365949 forward, 0.914937 starboard, -0.170209 keelward ] 2021-05-18T16:46:21.863Z,1621356381.863 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone 2021-05-18T16:46:21.863Z,1621356381.863 [DAT](INFO): publishing direction and range info 2021-05-18T16:46:21.910Z,1621356381.910 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:46:21.919Z,1621356381.919 [lab_range_test:A.](INFO): direction in vehicle frame: [ 0.365949 forward, 0.914937 starboard, -0.170209 keelward ] 2021-05-18T16:46:21.919Z,1621356381.919 [lab_range_test:A.](DEBUG): processing response from DAT 2021-05-18T16:46:21.921Z,1621356381.921 [lab_range_test:A.](INFO): rotationFromVehicleToNavigationFrame_ = [ 0.998927,-0.046223,-0.002789;0.046278,0.998619,0.024858;0.001636,-0.024961,0.999687 ] 2021-05-18T16:46:21.922Z,1621356381.922 [lab_range_test:A.](INFO): rangeToContact_ = 0.300000 m 2021-05-18T16:46:21.922Z,1621356381.922 [lab_range_test:A.](INFO): direction in world frame: [ 0.407619 north, 0.901007 east, -0.148433 down ] 2021-05-18T16:46:21.935Z,1621356381.935 [lab_range_test:A.](INFO): relPosInFSK: [ 0.109785 forward, 0.274481 starboard, -0.051063 keelward ] 2021-05-18T16:46:21.936Z,1621356381.936 [lab_range_test:A.](INFO): relPosInNED: [ 0.122286 north, 0.270302 east, -0.044530 down ] 2021-05-18T16:46:21.937Z,1621356381.937 [lab_range_test:A.](DEBUG): Combining 10 samples. 2021-05-18T16:46:21.937Z,1621356381.937 [lab_range_test:A.](DEBUG): Could not read vehicle position; cannot calculate contact position. 2021-05-18T16:46:22.242Z,1621356382.242 [DAT](INFO): DAT read: Rx Time:16:45:56.3286 2021-05-18T16:46:22.243Z,1621356382.243 [DAT](INFO): received an acoustic signal 2021-05-18T16:46:22.244Z,1621356382.244 [DAT](INFO): DAT read: Bearing 66.2, -8.5 (Local) 2021-05-18T16:46:22.244Z,1621356382.244 [DAT](INFO): Local bearing/azimuth received: Bearing 66.2, -8.5 (Local) 2021-05-18T16:46:22.246Z,1621356382.246 [DAT](INFO): DAT read: Range 7 to 50 : 0.2 m (trip time 0.1 ms) speed 0.0 2021-05-18T16:46:22.259Z,1621356382.259 [DAT](INFO): DAT read: 16:45:56.3286 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 495, 0.21,-0.197,-0.475,-0.216,-0.245, PHS= 0.044,-0.186, 0.014, RAW= 143.3, 11.8, CAL= 143.8, 8.5, ROT= 66.2, -8.5 2021-05-18T16:46:22.260Z,1621356382.260 [DAT](INFO): got valid direction response: 16:45:56.3286 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 495, 0.21,-0.197,-0.475,-0.216,-0.245, PHS= 0.044,-0.186, 0.014, RAW= 143.3, 11.8, CAL= 143.8, 8.5, ROT= 66.2, -8.5 2021-05-18T16:46:22.261Z,1621356382.261 [DAT](INFO): #Rx 11: Read range and direction messages. 2021-05-18T16:46:22.262Z,1621356382.262 [DAT](INFO): direction in vehicle frame: [ 0.399113 forward, 0.904910 starboard, -0.147809 keelward ] 2021-05-18T16:46:22.262Z,1621356382.262 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone 2021-05-18T16:46:22.262Z,1621356382.262 [DAT](INFO): publishing direction and range info 2021-05-18T16:46:22.323Z,1621356382.323 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:46:22.324Z,1621356382.324 [lab_range_test:A.](INFO): direction in vehicle frame: [ 0.399113 forward, 0.904910 starboard, -0.147809 keelward ] 2021-05-18T16:46:22.324Z,1621356382.324 [lab_range_test:A.](DEBUG): processing response from DAT 2021-05-18T16:46:22.326Z,1621356382.326 [lab_range_test:A.](INFO): rotationFromVehicleToNavigationFrame_ = [ 0.998898,-0.046862,-0.002707;0.046915,0.998591,0.024814;0.001541,-0.024914,0.999688 ] 2021-05-18T16:46:22.335Z,1621356382.335 [lab_range_test:A.](INFO): rangeToContact_ = 0.200000 m 2021-05-18T16:46:22.336Z,1621356382.336 [lab_range_test:A.](INFO): direction in world frame: [ 0.440899 north, 0.888614 east, -0.126389 down ] 2021-05-18T16:46:22.337Z,1621356382.337 [lab_range_test:A.](INFO): relPosInFSK: [ 0.079823 forward, 0.180982 starboard, -0.029562 keelward ] 2021-05-18T16:46:22.337Z,1621356382.337 [lab_range_test:A.](INFO): relPosInNED: [ 0.088180 north, 0.177723 east, -0.025278 down ] 2021-05-18T16:46:22.338Z,1621356382.338 [lab_range_test:A.](DEBUG): Combining 10 samples. 2021-05-18T16:46:22.338Z,1621356382.338 [lab_range_test:A.](DEBUG): Could not read vehicle position; cannot calculate contact position. 2021-05-18T16:46:22.665Z,1621356382.665 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:46:23.074Z,1621356383.074 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:46:23.489Z,1621356383.489 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:46:23.898Z,1621356383.898 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:46:24.288Z,1621356384.288 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:46:24.682Z,1621356384.682 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:46:25.094Z,1621356385.094 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:46:25.486Z,1621356385.486 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:46:25.889Z,1621356385.889 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:46:26.309Z,1621356386.309 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:46:26.711Z,1621356386.711 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 11 2021-05-18T16:46:26.711Z,1621356386.711 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault 2021-05-18T16:46:26.712Z,1621356386.712 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:46:26.721Z,1621356386.721 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources 2021-05-18T16:46:27.124Z,1621356387.124 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:46:27.133Z,1621356387.133 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources 2021-05-18T16:46:27.133Z,1621356387.133 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 11 2021-05-18T16:46:27.501Z,1621356387.501 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:46:27.502Z,1621356387.502 [lab_range_test:A.](INFO): update period (5.000000 s) has elapsed, querying... 2021-05-18T16:46:27.502Z,1621356387.502 [lab_range_test:A.](INFO): *** querying DAT *** 2021-05-18T16:46:27.905Z,1621356387.905 [DAT](INFO): ****** received valid address query ****** 2021-05-18T16:46:27.905Z,1621356387.905 [DAT](INFO): ****** received valid ping request ****** 2021-05-18T16:46:27.905Z,1621356387.905 [DAT](INFO): Querying Benthos address 50 with 10 pings in terminal homing one-way mode. 2021-05-18T16:46:27.907Z,1621356387.907 [DAT](INFO): ****** ping requested ****** 2021-05-18T16:46:27.921Z,1621356387.921 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:46:28.306Z,1621356388.306 [DAT](INFO): DAT read: user:21> 2021-05-18T16:46:28.307Z,1621356388.307 [DAT](INFO): DAT read: Tx time:16:46:02.6489 2021-05-18T16:46:28.307Z,1621356388.307 [DAT](INFO): Ping request sent. 2021-05-18T16:46:28.307Z,1621356388.307 [DAT](INFO): transmitted an acoustic signal 2021-05-18T16:46:28.308Z,1621356388.308 [DAT](INFO): publishing transmit ping time 2021-05-18T16:46:28.308Z,1621356388.308 [DAT](INFO): checking for new query: numPingsReceived=0 elapsed TxPingTime=0.000791 2021-05-18T16:46:28.348Z,1621356388.348 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:46:28.712Z,1621356388.712 [DAT](INFO): checking for new query: numPingsReceived=0 elapsed TxPingTime=0.404268 2021-05-18T16:46:28.725Z,1621356388.725 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:46:29.114Z,1621356389.114 [DAT](INFO): checking for new query: numPingsReceived=0 elapsed TxPingTime=0.806954 2021-05-18T16:46:29.122Z,1621356389.122 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:46:29.537Z,1621356389.537 [DAT](INFO): checking for new query: numPingsReceived=0 elapsed TxPingTime=1.229102 2021-05-18T16:46:29.550Z,1621356389.550 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:46:29.940Z,1621356389.940 [DAT](INFO): checking for new query: numPingsReceived=0 elapsed TxPingTime=1.632563 2021-05-18T16:46:29.953Z,1621356389.953 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:46:30.337Z,1621356390.337 [DAT](INFO): checking for new query: numPingsReceived=0 elapsed TxPingTime=2.029318 2021-05-18T16:46:30.374Z,1621356390.374 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:46:30.731Z,1621356390.731 [DAT](INFO): DAT read: Rx Time:16:46:04.7786 2021-05-18T16:46:30.731Z,1621356390.731 [DAT](INFO): received an acoustic signal 2021-05-18T16:46:30.733Z,1621356390.733 [DAT](INFO): DAT read: Bearing 68.6, -5.5 (Local) 2021-05-18T16:46:30.733Z,1621356390.733 [DAT](INFO): Local bearing/azimuth received: Bearing 68.6, -5.5 (Local) 2021-05-18T16:46:30.735Z,1621356390.735 [DAT](INFO): DAT read: Range 7 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0 2021-05-18T16:46:30.740Z,1621356390.740 [DAT](INFO): DAT read: 16:46:04.7786 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 224, 0.47, 3.085, 2.794, 3.054, 3.018, PHS= 0.062,-0.181, 0.021, RAW= 140.9, 8.7, CAL= 141.4, 5.5, ROT= 68.6, -5.5 2021-05-18T16:46:30.741Z,1621356390.741 [DAT](INFO): got valid direction response: 16:46:04.7786 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 224, 0.47, 3.085, 2.794, 3.054, 3.018, PHS= 0.062,-0.181, 0.021, RAW= 140.9, 8.7, CAL= 141.4, 5.5, ROT= 68.6, -5.5 2021-05-18T16:46:30.741Z,1621356390.741 [DAT](INFO): #Rx 1: Read range and direction messages. 2021-05-18T16:46:30.742Z,1621356390.742 [DAT](INFO): direction in vehicle frame: [ 0.363197 forward, 0.926769 starboard, -0.095846 keelward ] 2021-05-18T16:46:30.743Z,1621356390.743 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone 2021-05-18T16:46:30.743Z,1621356390.743 [DAT](INFO): publishing direction and range info 2021-05-18T16:46:30.746Z,1621356390.746 [DAT](INFO): checking for new query: numPingsReceived=1 elapsed TxPingTime=2.438581 2021-05-18T16:46:30.753Z,1621356390.753 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:46:30.755Z,1621356390.755 [lab_range_test:A.](INFO): direction in vehicle frame: [ 0.363197 forward, 0.926769 starboard, -0.095846 keelward ] 2021-05-18T16:46:30.755Z,1621356390.755 [lab_range_test:A.](DEBUG): processing response from DAT 2021-05-18T16:46:30.757Z,1621356390.757 [lab_range_test:A.](INFO): rotationFromVehicleToNavigationFrame_ = [ 0.998794,-0.049026,-0.002698;0.049078,0.998494,0.024536;0.001491,-0.024639,0.999695 ] 2021-05-18T16:46:30.757Z,1621356390.757 [lab_range_test:A.](INFO): rangeToContact_ = 0.300000 m 2021-05-18T16:46:30.758Z,1621356390.758 [lab_range_test:A.](INFO): direction in world frame: [ 0.408100 north, 0.909929 east, -0.074057 down ] 2021-05-18T16:46:30.759Z,1621356390.759 [lab_range_test:A.](INFO): relPosInFSK: [ 0.108959 forward, 0.278031 starboard, -0.028754 keelward ] 2021-05-18T16:46:30.760Z,1621356390.760 [lab_range_test:A.](INFO): relPosInNED: [ 0.122430 north, 0.272979 east, -0.022217 down ] 2021-05-18T16:46:30.760Z,1621356390.760 [lab_range_test:A.](DEBUG): Combining 10 samples. 2021-05-18T16:46:30.760Z,1621356390.760 [lab_range_test:A.](DEBUG): Could not read vehicle position; cannot calculate contact position. 2021-05-18T16:46:31.139Z,1621356391.139 [DAT](INFO): DAT read: Rx Time:16:46:05.2786 2021-05-18T16:46:31.139Z,1621356391.139 [DAT](INFO): received an acoustic signal 2021-05-18T16:46:31.140Z,1621356391.140 [DAT](INFO): DAT read: Bearing 64.5, -8.8 (Local) 2021-05-18T16:46:31.141Z,1621356391.141 [DAT](INFO): Local bearing/azimuth received: Bearing 64.5, -8.8 (Local) 2021-05-18T16:46:31.143Z,1621356391.143 [DAT](INFO): DAT read: Range 7 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0 2021-05-18T16:46:31.148Z,1621356391.148 [DAT](INFO): DAT read: 16:46:05.2786 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 496,-0.27, 0.226,-0.098, 0.211, 0.175, PHS= 0.047,-0.229, 0.020, RAW= 145.0, 12.2, CAL= 145.5, 8.8, ROT= 64.5, -8.8 2021-05-18T16:46:31.149Z,1621356391.149 [DAT](INFO): got valid direction response: 16:46:05.2786 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 496,-0.27, 0.226,-0.098, 0.211, 0.175, PHS= 0.047,-0.229, 0.020, RAW= 145.0, 12.2, CAL= 145.5, 8.8, ROT= 64.5, -8.8 2021-05-18T16:46:31.149Z,1621356391.149 [DAT](INFO): #Rx 2: Read range and direction messages. 2021-05-18T16:46:31.150Z,1621356391.150 [DAT](INFO): direction in vehicle frame: [ 0.425443 forward, 0.891960 starboard, -0.152986 keelward ] 2021-05-18T16:46:31.151Z,1621356391.151 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone 2021-05-18T16:46:31.151Z,1621356391.151 [DAT](INFO): publishing direction and range info 2021-05-18T16:46:31.154Z,1621356391.154 [DAT](INFO): checking for new query: numPingsReceived=2 elapsed TxPingTime=2.846551 2021-05-18T16:46:31.225Z,1621356391.225 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:46:31.226Z,1621356391.226 [lab_range_test:A.](INFO): direction in vehicle frame: [ 0.425443 forward, 0.891960 starboard, -0.152986 keelward ] 2021-05-18T16:46:31.226Z,1621356391.226 [lab_range_test:A.](DEBUG): processing response from DAT 2021-05-18T16:46:31.236Z,1621356391.236 [lab_range_test:A.](INFO): rotationFromVehicleToNavigationFrame_ = [ 0.998803,-0.048837,-0.002600;0.048886,0.998501,0.024598;0.001394,-0.024696,0.999694 ] 2021-05-18T16:46:31.237Z,1621356391.237 [lab_range_test:A.](INFO): rangeToContact_ = 0.300000 m 2021-05-18T16:46:31.238Z,1621356391.238 [lab_range_test:A.](INFO): direction in world frame: [ 0.468325 north, 0.873624 east, -0.132105 down ] 2021-05-18T16:46:31.238Z,1621356391.238 [lab_range_test:A.](INFO): relPosInFSK: [ 0.127633 forward, 0.267588 starboard, -0.045896 keelward ] 2021-05-18T16:46:31.247Z,1621356391.247 [lab_range_test:A.](INFO): relPosInNED: [ 0.140498 north, 0.262087 east, -0.039631 down ] 2021-05-18T16:46:31.248Z,1621356391.248 [lab_range_test:A.](DEBUG): Combining 10 samples. 2021-05-18T16:46:31.248Z,1621356391.248 [lab_range_test:A.](DEBUG): Could not read vehicle position; cannot calculate contact position. 2021-05-18T16:46:31.544Z,1621356391.544 [DAT](INFO): DAT read: Rx Time:16:46:05.7786 2021-05-18T16:46:31.544Z,1621356391.544 [DAT](INFO): received an acoustic signal 2021-05-18T16:46:31.545Z,1621356391.545 [DAT](INFO): DAT read: Bearing 64.5, -9.0 (Local) 2021-05-18T16:46:31.546Z,1621356391.546 [DAT](INFO): Local bearing/azimuth received: Bearing 64.5, -9.0 (Local) 2021-05-18T16:46:31.556Z,1621356391.556 [DAT](INFO): DAT read: Range 7 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0 2021-05-18T16:46:31.586Z,1621356391.586 [DAT](INFO): DAT read: 16:46:05.7786 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 496,-0.13, 0.605, 0.289, 0.590, 0.556, PHS= 0.045,-0.223, 0.019, RAW= 145.0, 12.4, CAL= 145.5, 9.0, ROT= 64.5, -9.0 2021-05-18T16:46:31.588Z,1621356391.588 [DAT](INFO): got valid direction response: 16:46:05.7786 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 496,-0.13, 0.605, 0.289, 0.590, 0.556, PHS= 0.045,-0.223, 0.019, RAW= 145.0, 12.4, CAL= 145.5, 9.0, ROT= 64.5, -9.0 2021-05-18T16:46:31.588Z,1621356391.588 [DAT](INFO): #Rx 3: Read range and direction messages. 2021-05-18T16:46:31.589Z,1621356391.589 [DAT](INFO): direction in vehicle frame: [ 0.425211 forward, 0.891473 starboard, -0.156434 keelward ] 2021-05-18T16:46:31.590Z,1621356391.590 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone 2021-05-18T16:46:31.590Z,1621356391.590 [DAT](INFO): publishing direction and range info 2021-05-18T16:46:31.605Z,1621356391.605 [DAT](INFO): checking for new query: numPingsReceived=3 elapsed TxPingTime=3.297388 2021-05-18T16:46:31.636Z,1621356391.636 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:46:31.638Z,1621356391.638 [lab_range_test:A.](INFO): direction in vehicle frame: [ 0.425211 forward, 0.891473 starboard, -0.156434 keelward ] 2021-05-18T16:46:31.638Z,1621356391.638 [lab_range_test:A.](DEBUG): processing response from DAT 2021-05-18T16:46:31.645Z,1621356391.645 [lab_range_test:A.](INFO): rotationFromVehicleToNavigationFrame_ = [ 0.998829,-0.048302,-0.002628;0.048352,0.998527,0.024633;0.001435,-0.024732,0.999693 ] 2021-05-18T16:46:31.645Z,1621356391.645 [lab_range_test:A.](INFO): rangeToContact_ = 0.300000 m 2021-05-18T16:46:31.646Z,1621356391.646 [lab_range_test:A.](INFO): direction in world frame: [ 0.467593 north, 0.873490 east, -0.135544 down ] 2021-05-18T16:46:31.659Z,1621356391.659 [lab_range_test:A.](INFO): relPosInFSK: [ 0.127563 forward, 0.267442 starboard, -0.046930 keelward ] 2021-05-18T16:46:31.660Z,1621356391.660 [lab_range_test:A.](INFO): relPosInNED: [ 0.140278 north, 0.262047 east, -0.040663 down ] 2021-05-18T16:46:31.660Z,1621356391.660 [lab_range_test:A.](DEBUG): Combining 10 samples. 2021-05-18T16:46:31.660Z,1621356391.660 [lab_range_test:A.](DEBUG): Could not read vehicle position; cannot calculate contact position. 2021-05-18T16:46:31.938Z,1621356391.938 [DAT](INFO): checking for new query: numPingsReceived=3 elapsed TxPingTime=3.630702 2021-05-18T16:46:31.957Z,1621356391.957 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:46:32.361Z,1621356392.361 [DAT](INFO): DAT read: Rx Time:16:46:06.2785 2021-05-18T16:46:32.362Z,1621356392.362 [DAT](INFO): received an acoustic signal 2021-05-18T16:46:32.363Z,1621356392.363 [DAT](INFO): DAT read: Bearing 65.5, -8.5 (Local) 2021-05-18T16:46:32.363Z,1621356392.363 [DAT](INFO): Local bearing/azimuth received: Bearing 65.5, -8.5 (Local) 2021-05-18T16:46:32.365Z,1621356392.365 [DAT](INFO): DAT read: Range 7 to 50 : 0.2 m (trip time 0.1 ms) speed 0.0 2021-05-18T16:46:32.370Z,1621356392.370 [DAT](INFO): DAT read: 16:46:06.2785 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 495, 0.01,-0.097,-0.400,-0.115,-0.148, PHS= 0.047,-0.208, 0.018, RAW= 143.9, 11.8, CAL= 144.5, 8.5, ROT= 65.5, -8.5 2021-05-18T16:46:32.371Z,1621356392.371 [DAT](INFO): got valid direction response: 16:46:06.2785 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 495, 0.01,-0.097,-0.400,-0.115,-0.148, PHS= 0.047,-0.208, 0.018, RAW= 143.9, 11.8, CAL= 144.5, 8.5, ROT= 65.5, -8.5 2021-05-18T16:46:32.372Z,1621356392.372 [DAT](INFO): #Rx 4: Read range and direction messages. 2021-05-18T16:46:32.373Z,1621356392.373 [DAT](INFO): direction in vehicle frame: [ 0.410138 forward, 0.899966 starboard, -0.147809 keelward ] 2021-05-18T16:46:32.373Z,1621356392.373 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone 2021-05-18T16:46:32.374Z,1621356392.374 [DAT](INFO): publishing direction and range info 2021-05-18T16:46:32.377Z,1621356392.377 [DAT](INFO): checking for new query: numPingsReceived=4 elapsed TxPingTime=4.069333 2021-05-18T16:46:32.470Z,1621356392.470 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:46:32.481Z,1621356392.481 [lab_range_test:A.](INFO): direction in vehicle frame: [ 0.410138 forward, 0.899966 starboard, -0.147809 keelward ] 2021-05-18T16:46:32.481Z,1621356392.481 [lab_range_test:A.](DEBUG): processing response from DAT 2021-05-18T16:46:32.494Z,1621356392.494 [lab_range_test:A.](INFO): rotationFromVehicleToNavigationFrame_ = [ 0.998895,-0.046918,-0.002657;0.046970,0.998588,0.024803;0.001489,-0.024901,0.999689 ] 2021-05-18T16:46:32.508Z,1621356392.508 [lab_range_test:A.](INFO): rangeToContact_ = 0.200000 m 2021-05-18T16:46:32.510Z,1621356392.510 [lab_range_test:A.](INFO): direction in world frame: [ 0.451736 north, 0.883133 east, -0.126531 down ] 2021-05-18T16:46:32.528Z,1621356392.528 [lab_range_test:A.](INFO): relPosInFSK: [ 0.082028 forward, 0.179993 starboard, -0.029562 keelward ] 2021-05-18T16:46:32.530Z,1621356392.530 [lab_range_test:A.](INFO): relPosInNED: [ 0.090347 north, 0.176627 east, -0.025306 down ] 2021-05-18T16:46:32.530Z,1621356392.530 [lab_range_test:A.](DEBUG): Combining 10 samples. 2021-05-18T16:46:32.536Z,1621356392.536 [lab_range_test:A.](DEBUG): Could not read vehicle position; cannot calculate contact position. 2021-05-18T16:46:32.762Z,1621356392.762 [DAT](INFO): DAT read: Rx Time:16:46:06.7786 2021-05-18T16:46:32.762Z,1621356392.762 [DAT](INFO): received an acoustic signal 2021-05-18T16:46:32.763Z,1621356392.763 [DAT](INFO): DAT read: Bearing 67.0, -9.8 (Local) 2021-05-18T16:46:32.764Z,1621356392.764 [DAT](INFO): Local bearing/azimuth received: Bearing 67.0, -9.8 (Local) 2021-05-18T16:46:32.766Z,1621356392.766 [DAT](INFO): DAT read: Range 7 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0 2021-05-18T16:46:32.770Z,1621356392.770 [DAT](INFO): DAT read: 16:46:06.7786 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 0, 0.60, 2.896, 2.397, 2.842, 2.812, PHS= 0.079,-0.371, 0.015, RAW= 142.4, 13.1, CAL= 143.0, 9.8, ROT= 67.0, -9.8 2021-05-18T16:46:32.772Z,1621356392.772 [DAT](INFO): got valid direction response: 16:46:06.7786 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 0, 0.60, 2.896, 2.397, 2.842, 2.812, PHS= 0.079,-0.371, 0.015, RAW= 142.4, 13.1, CAL= 143.0, 9.8, ROT= 67.0, -9.8 2021-05-18T16:46:32.772Z,1621356392.772 [DAT](INFO): #Rx 5: Read range and direction messages. 2021-05-18T16:46:32.773Z,1621356392.773 [DAT](INFO): direction in vehicle frame: [ 0.385029 forward, 0.907073 starboard, -0.170209 keelward ] 2021-05-18T16:46:32.773Z,1621356392.773 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone 2021-05-18T16:46:32.774Z,1621356392.774 [DAT](INFO): publishing direction and range info 2021-05-18T16:46:32.777Z,1621356392.777 [DAT](INFO): checking for new query: numPingsReceived=5 elapsed TxPingTime=4.469203 2021-05-18T16:46:32.792Z,1621356392.792 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:46:32.793Z,1621356392.793 [lab_range_test:A.](INFO): direction in vehicle frame: [ 0.385029 forward, 0.907073 starboard, -0.170209 keelward ] 2021-05-18T16:46:32.793Z,1621356392.793 [lab_range_test:A.](DEBUG): processing response from DAT 2021-05-18T16:46:32.816Z,1621356392.816 [lab_range_test:A.](INFO): rotationFromVehicleToNavigationFrame_ = [ 0.998909,-0.046621,-0.002658;0.046672,0.998602,0.024817;0.001497,-0.024914,0.999689 ] 2021-05-18T16:46:32.816Z,1621356392.816 [lab_range_test:A.](INFO): rangeToContact_ = 0.300000 m 2021-05-18T16:46:32.817Z,1621356392.817 [lab_range_test:A.](INFO): direction in world frame: [ 0.426690 north, 0.892095 east, -0.148669 down ] 2021-05-18T16:46:32.818Z,1621356392.818 [lab_range_test:A.](INFO): relPosInFSK: [ 0.115509 forward, 0.272122 starboard, -0.051063 keelward ] 2021-05-18T16:46:32.818Z,1621356392.818 [lab_range_test:A.](INFO): relPosInNED: [ 0.128007 north, 0.267628 east, -0.044601 down ] 2021-05-18T16:46:32.827Z,1621356392.827 [lab_range_test:A.](DEBUG): Combining 10 samples. 2021-05-18T16:46:32.827Z,1621356392.827 [lab_range_test:A.](DEBUG): Could not read vehicle position; cannot calculate contact position. 2021-05-18T16:46:33.161Z,1621356393.161 [DAT](INFO): DAT read: Rx Time:16:46:07.2785 2021-05-18T16:46:33.161Z,1621356393.161 [DAT](INFO): received an acoustic signal 2021-05-18T16:46:33.163Z,1621356393.163 [DAT](INFO): DAT read: Bearing 66.9, -7.5 (Local) 2021-05-18T16:46:33.163Z,1621356393.163 [DAT](INFO): Local bearing/azimuth received: Bearing 66.9, -7.5 (Local) 2021-05-18T16:46:33.165Z,1621356393.165 [DAT](INFO): DAT read: Range 7 to 50 : 0.2 m (trip time 0.1 ms) speed 0.0 2021-05-18T16:46:33.170Z,1621356393.170 [DAT](INFO): DAT read: 16:46:07.2785 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 495, 0.25, 1.421, 1.165, 1.403, 1.373, PHS= 0.044,-0.164, 0.015, RAW= 142.6, 10.8, CAL= 143.1, 7.5, ROT= 66.9, -7.5 2021-05-18T16:46:33.171Z,1621356393.171 [DAT](INFO): got valid direction response: 16:46:07.2785 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 495, 0.25, 1.421, 1.165, 1.403, 1.373, PHS= 0.044,-0.164, 0.015, RAW= 142.6, 10.8, CAL= 143.1, 7.5, ROT= 66.9, -7.5 2021-05-18T16:46:33.172Z,1621356393.172 [DAT](INFO): #Rx 6: Read range and direction messages. 2021-05-18T16:46:33.173Z,1621356393.173 [DAT](INFO): direction in vehicle frame: [ 0.388981 forward, 0.911952 starboard, -0.130526 keelward ] 2021-05-18T16:46:33.173Z,1621356393.173 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone 2021-05-18T16:46:33.173Z,1621356393.173 [DAT](INFO): publishing direction and range info 2021-05-18T16:46:33.184Z,1621356393.184 [DAT](INFO): checking for new query: numPingsReceived=6 elapsed TxPingTime=4.876758 2021-05-18T16:46:33.233Z,1621356393.233 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:46:33.234Z,1621356393.234 [lab_range_test:A.](INFO): direction in vehicle frame: [ 0.388981 forward, 0.911952 starboard, -0.130526 keelward ] 2021-05-18T16:46:33.234Z,1621356393.234 [lab_range_test:A.](DEBUG): processing response from DAT 2021-05-18T16:46:33.245Z,1621356393.245 [lab_range_test:A.](INFO): rotationFromVehicleToNavigationFrame_ = [ 0.998963,-0.045451,-0.002804;0.045507,0.998654,0.024890;0.001669,-0.024991,0.999686 ] 2021-05-18T16:46:33.245Z,1621356393.245 [lab_range_test:A.](INFO): rangeToContact_ = 0.200000 m 2021-05-18T16:46:33.246Z,1621356393.246 [lab_range_test:A.](INFO): direction in world frame: [ 0.429859 north, 0.896307 east, -0.108878 down ] 2021-05-18T16:46:33.246Z,1621356393.246 [lab_range_test:A.](INFO): relPosInFSK: [ 0.077796 forward, 0.182390 starboard, -0.026105 keelward ] 2021-05-18T16:46:33.255Z,1621356393.255 [lab_range_test:A.](INFO): relPosInNED: [ 0.085972 north, 0.179261 east, -0.021776 down ] 2021-05-18T16:46:33.256Z,1621356393.256 [lab_range_test:A.](DEBUG): Combining 10 samples. 2021-05-18T16:46:33.256Z,1621356393.256 [lab_range_test:A.](DEBUG): Could not read vehicle position; cannot calculate contact position. 2021-05-18T16:46:33.567Z,1621356393.567 [DAT](INFO): DAT read: Rx Time:16:46:07.7786 2021-05-18T16:46:33.567Z,1621356393.567 [DAT](INFO): received an acoustic signal 2021-05-18T16:46:33.569Z,1621356393.569 [DAT](INFO): DAT read: Bearing 64.6, -9.4 (Local) 2021-05-18T16:46:33.569Z,1621356393.569 [DAT](INFO): Local bearing/azimuth received: Bearing 64.6, -9.4 (Local) 2021-05-18T16:46:33.595Z,1621356393.595 [DAT](INFO): DAT read: Range 7 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0 2021-05-18T16:46:33.612Z,1621356393.612 [DAT](INFO): DAT read: 16:46:07.7786 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 0, 0.51, 0.849, 0.538, 0.834, 0.802, PHS= 0.042,-0.220, 0.017, RAW= 144.9, 12.8, CAL= 145.4, 9.4, ROT= 64.6, -9.4 2021-05-18T16:46:33.613Z,1621356393.613 [DAT](INFO): got valid direction response: 16:46:07.7786 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 0, 0.51, 0.849, 0.538, 0.834, 0.802, PHS= 0.042,-0.220, 0.017, RAW= 144.9, 12.8, CAL= 145.4, 9.4, ROT= 64.6, -9.4 2021-05-18T16:46:33.614Z,1621356393.614 [DAT](INFO): #Rx 7: Read range and direction messages. 2021-05-18T16:46:33.615Z,1621356393.615 [DAT](INFO): direction in vehicle frame: [ 0.423176 forward, 0.891205 starboard, -0.163326 keelward ] 2021-05-18T16:46:33.623Z,1621356393.623 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone 2021-05-18T16:46:33.623Z,1621356393.623 [DAT](INFO): publishing direction and range info 2021-05-18T16:46:33.626Z,1621356393.626 [DAT](INFO): checking for new query: numPingsReceived=7 elapsed TxPingTime=5.318782 2021-05-18T16:46:33.658Z,1621356393.658 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:46:33.668Z,1621356393.668 [lab_range_test:A.](INFO): direction in vehicle frame: [ 0.423176 forward, 0.891205 starboard, -0.163326 keelward ] 2021-05-18T16:46:33.668Z,1621356393.668 [lab_range_test:A.](DEBUG): processing response from DAT 2021-05-18T16:46:33.670Z,1621356393.670 [lab_range_test:A.](INFO): rotationFromVehicleToNavigationFrame_ = [ 0.998890,-0.047035,-0.002690;0.047087,0.998584,0.024763;0.001521,-0.024862,0.999690 ] 2021-05-18T16:46:33.675Z,1621356393.675 [lab_range_test:A.](INFO): rangeToContact_ = 0.300000 m 2021-05-18T16:46:33.676Z,1621356393.676 [lab_range_test:A.](INFO): direction in world frame: [ 0.464421 north, 0.874100 east, -0.142345 down ] 2021-05-18T16:46:33.677Z,1621356393.677 [lab_range_test:A.](INFO): relPosInFSK: [ 0.126953 forward, 0.267362 starboard, -0.048998 keelward ] 2021-05-18T16:46:33.678Z,1621356393.678 [lab_range_test:A.](INFO): relPosInNED: [ 0.139326 north, 0.262230 east, -0.042703 down ] 2021-05-18T16:46:33.678Z,1621356393.678 [lab_range_test:A.](DEBUG): Combining 10 samples. 2021-05-18T16:46:33.678Z,1621356393.678 [lab_range_test:A.](DEBUG): Could not read vehicle position; cannot calculate contact position. 2021-05-18T16:46:33.959Z,1621356393.959 [DAT](INFO): checking for new query: numPingsReceived=7 elapsed TxPingTime=5.651036 2021-05-18T16:46:33.985Z,1621356393.985 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:46:34.363Z,1621356394.363 [DAT](INFO): DAT read: Rx Time:16:46:08.2784 2021-05-18T16:46:34.363Z,1621356394.363 [DAT](INFO): received an acoustic signal 2021-05-18T16:46:34.364Z,1621356394.364 [DAT](INFO): DAT read: Bearing 63.6, -10.4 (Local) 2021-05-18T16:46:34.365Z,1621356394.365 [DAT](INFO): Local bearing/azimuth received: Bearing 63.6, -10.4 (Local) 2021-05-18T16:46:34.367Z,1621356394.367 [DAT](INFO): DAT read: Range 7 to 50 : 0.0 m (trip time 0.0 ms) speed 0.0 2021-05-18T16:46:34.367Z,1621356394.367 [DAT](INFO): unknown deviceResponse_: Range 7 to 50 : 0.0 m (trip time 0.0 ms) speed 0.0 2021-05-18T16:46:34.372Z,1621356394.372 [DAT](INFO): DAT read: 16:46:08.2784 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 496,-0.33,-0.730,-1.053,-0.742,-0.773, PHS= 0.038,-0.237, 0.016, RAW= 145.8, 13.8, CAL= 146.4, 10.4, ROT= 63.6, -10.4 2021-05-18T16:46:34.373Z,1621356394.373 [DAT](INFO): got valid direction response: 16:46:08.2784 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 496,-0.33,-0.730,-1.053,-0.742,-0.773, PHS= 0.038,-0.237, 0.016, RAW= 145.8, 13.8, CAL= 146.4, 10.4, ROT= 63.6, -10.4 2021-05-18T16:46:34.373Z,1621356394.373 [DAT](INFO): #Rx 8: Read direction message, but no range. 2021-05-18T16:46:34.374Z,1621356394.374 [DAT](INFO): direction in vehicle frame: [ 0.437331 forward, 0.880997 starboard, -0.180519 keelward ] 2021-05-18T16:46:34.375Z,1621356394.375 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone 2021-05-18T16:46:34.378Z,1621356394.378 [DAT](INFO): checking for new query: numPingsReceived=8 elapsed TxPingTime=6.070170 2021-05-18T16:46:34.385Z,1621356394.385 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:46:34.768Z,1621356394.768 [DAT](INFO): DAT read: Rx Time:16:46:08.7786 2021-05-18T16:46:34.768Z,1621356394.768 [DAT](INFO): received an acoustic signal 2021-05-18T16:46:34.769Z,1621356394.769 [DAT](INFO): DAT read: Bearing 65.1, -9.8 (Local) 2021-05-18T16:46:34.770Z,1621356394.770 [DAT](INFO): Local bearing/azimuth received: Bearing 65.1, -9.8 (Local) 2021-05-18T16:46:34.772Z,1621356394.772 [DAT](INFO): DAT read: Range 7 to 50 : 0.3 m (trip time 0.2 ms) speed 0.0 2021-05-18T16:46:34.776Z,1621356394.776 [DAT](INFO): DAT read: 16:46:08.7786 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 1,-0.20, 0.850, 0.514, 0.830, 0.800, PHS= 0.046,-0.242, 0.015, RAW= 144.3, 13.1, CAL= 144.9, 9.8, ROT= 65.1, -9.8 2021-05-18T16:46:34.778Z,1621356394.778 [DAT](INFO): got valid direction response: 16:46:08.7786 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 1,-0.20, 0.850, 0.514, 0.830, 0.800, PHS= 0.046,-0.242, 0.015, RAW= 144.3, 13.1, CAL= 144.9, 9.8, ROT= 65.1, -9.8 2021-05-18T16:46:34.778Z,1621356394.778 [DAT](INFO): #Rx 9: Read range and direction messages. 2021-05-18T16:46:34.803Z,1621356394.803 [DAT](INFO): direction in vehicle frame: [ 0.414892 forward, 0.893808 starboard, -0.170209 keelward ] 2021-05-18T16:46:34.804Z,1621356394.804 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone 2021-05-18T16:46:34.804Z,1621356394.804 [DAT](INFO): publishing direction and range info 2021-05-18T16:46:34.811Z,1621356394.811 [DAT](INFO): checking for new query: numPingsReceived=9 elapsed TxPingTime=6.503607 2021-05-18T16:46:34.827Z,1621356394.827 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:46:34.828Z,1621356394.828 [lab_range_test:A.](INFO): direction in vehicle frame: [ 0.414892 forward, 0.893808 starboard, -0.170209 keelward ] 2021-05-18T16:46:34.828Z,1621356394.828 [lab_range_test:A.](DEBUG): processing response from DAT 2021-05-18T16:46:34.830Z,1621356394.830 [lab_range_test:A.](INFO): rotationFromVehicleToNavigationFrame_ = [ 0.998880,-0.047247,-0.002665;0.047299,0.998575,0.024723;0.001494,-0.024822,0.999691 ] 2021-05-18T16:46:34.843Z,1621356394.843 [lab_range_test:A.](INFO): rangeToContact_ = 0.300000 m 2021-05-18T16:46:34.844Z,1621356394.844 [lab_range_test:A.](INFO): direction in world frame: [ 0.456449 north, 0.877157 east, -0.149165 down ] 2021-05-18T16:46:34.845Z,1621356394.845 [lab_range_test:A.](INFO): relPosInFSK: [ 0.124468 forward, 0.268143 starboard, -0.051063 keelward ] 2021-05-18T16:46:34.845Z,1621356394.845 [lab_range_test:A.](INFO): relPosInNED: [ 0.136935 north, 0.263147 east, -0.044749 down ] 2021-05-18T16:46:34.846Z,1621356394.846 [lab_range_test:A.](DEBUG): Combining 10 samples. 2021-05-18T16:46:34.846Z,1621356394.846 [lab_range_test:A.](DEBUG): Could not read vehicle position; cannot calculate contact position. 2021-05-18T16:46:35.177Z,1621356395.177 [DAT](INFO): DAT read: Rx Time:16:46:09.2785 2021-05-18T16:46:35.177Z,1621356395.177 [DAT](INFO): received an acoustic signal 2021-05-18T16:46:35.178Z,1621356395.178 [DAT](INFO): DAT read: Bearing 63.4, -10.5 (Local) 2021-05-18T16:46:35.179Z,1621356395.179 [DAT](INFO): Local bearing/azimuth received: Bearing 63.4, -10.5 (Local) 2021-05-18T16:46:35.181Z,1621356395.181 [DAT](INFO): DAT read: Range 7 to 50 : 0.2 m (trip time 0.1 ms) speed 0.0 2021-05-18T16:46:35.185Z,1621356395.185 [DAT](INFO): DAT read: 16:46:09.2785 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 496,-0.05,-0.723,-1.047,-0.734,-0.764, PHS= 0.037,-0.239, 0.015, RAW= 145.9, 13.9, CAL= 146.6, 10.5, ROT= 63.4, -10.5 2021-05-18T16:46:35.187Z,1621356395.187 [DAT](INFO): got valid direction response: 16:46:09.2785 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 496,-0.05,-0.723,-1.047,-0.734,-0.764, PHS= 0.037,-0.239, 0.015, RAW= 145.9, 13.9, CAL= 146.6, 10.5, ROT= 63.4, -10.5 2021-05-18T16:46:35.187Z,1621356395.187 [DAT](INFO): #Rx 10: Read range and direction messages. 2021-05-18T16:46:35.188Z,1621356395.188 [DAT](INFO): direction in vehicle frame: [ 0.440261 forward, 0.879182 starboard, -0.182236 keelward ] 2021-05-18T16:46:35.188Z,1621356395.188 [DAT](INFO): not publishing receive ping time as it could be a packet for anyone 2021-05-18T16:46:35.189Z,1621356395.189 [DAT](INFO): publishing direction and range info 2021-05-18T16:46:35.198Z,1621356395.198 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:46:35.200Z,1621356395.200 [lab_range_test:A.](INFO): direction in vehicle frame: [ 0.440261 forward, 0.879182 starboard, -0.182236 keelward ] 2021-05-18T16:46:35.200Z,1621356395.200 [lab_range_test:A.](DEBUG): processing response from DAT 2021-05-18T16:46:35.202Z,1621356395.202 [lab_range_test:A.](INFO): rotationFromVehicleToNavigationFrame_ = [ 0.998863,-0.047606,-0.002651;0.047657,0.998559,0.024679;0.001472,-0.024777,0.999692 ] 2021-05-18T16:46:35.202Z,1621356395.202 [lab_range_test:A.](INFO): rangeToContact_ = 0.200000 m 2021-05-18T16:46:35.203Z,1621356395.203 [lab_range_test:A.](INFO): direction in world frame: [ 0.481392 north, 0.861471 east, -0.161649 down ] 2021-05-18T16:46:35.204Z,1621356395.204 [lab_range_test:A.](INFO): relPosInFSK: [ 0.088052 forward, 0.175836 starboard, -0.036447 keelward ] 2021-05-18T16:46:35.205Z,1621356395.205 [lab_range_test:A.](INFO): relPosInNED: [ 0.096278 north, 0.172294 east, -0.032330 down ] 2021-05-18T16:46:35.205Z,1621356395.205 [lab_range_test:A.](DEBUG): Combining 10 samples. 2021-05-18T16:46:35.205Z,1621356395.205 [lab_range_test:A.](DEBUG): Could not read vehicle position; cannot calculate contact position. 2021-05-18T16:46:35.604Z,1621356395.604 [lab_range_test:A.](DEBUG): Tracking... 2021-05-18T16:46:36.006Z,1621356396.006 [lab_range_test](INFO): Timed out from 2021-05-18T16:44:35.6Z 2021-05-18T16:46:36.006Z,1621356396.006 [MissionManager](INFO): lab_range_test is completed. 2021-05-18T16:46:36.006Z,1621356396.006 [MissionManager](INFO): Uninitializing Mission lab_range_test 2021-05-18T16:46:36.006Z,1621356396.006 [lab_range_test] Stopped 2021-05-18T16:46:36.006Z,1621356396.006 [lab_range_test](DEBUG): Aggregate::uninitialize lab_range_test 2021-05-18T16:46:36.006Z,1621356396.006 [lab_range_test:A.] Stopped 2021-05-18T16:46:36.006Z,1621356396.006 [lab_range_test:A.](DEBUG): Uninitializing Tracking. 2021-05-18T16:46:36.006Z,1621356396.006 [lab_range_test:B.Wait] Stopped 2021-05-18T16:46:36.006Z,1621356396.006 [lab_range_test:B.Wait](DEBUG): Uninitialize Wait Component. 2021-05-18T16:46:36.405Z,1621356396.405 [MissionManager](IMPORTANT): Started mission Default 2021-05-18T16:46:36.405Z,1621356396.405 [Default] Running Loop=1 2021-05-18T16:46:36.406Z,1621356396.406 [Default](DEBUG): Aggregate::initialize Default 2021-05-18T16:46:36.406Z,1621356396.406 [Default:B.GoToSurface] Running Loop=1 2021-05-18T16:46:36.406Z,1621356396.406 [Default:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent. 2021-05-18T16:46:36.406Z,1621356396.406 [Default:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s. 2021-05-18T16:46:36.406Z,1621356396.406 [Default:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees. 2021-05-18T16:46:36.407Z,1621356396.407 [Default:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s. 2021-05-18T16:46:36.407Z,1621356396.407 [Default:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds. 2021-05-18T16:46:36.408Z,1621356396.408 [Default:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds. 2021-05-18T16:46:36.408Z,1621356396.408 [Default:A.Wait] Running Loop=1 2021-05-18T16:46:36.408Z,1621356396.408 [Default:A.Wait](DEBUG): Initialize Wait Component. 2021-05-18T16:46:38.400Z,1621356398.400 [NAL9602](FAULT): GPS failed to acquire within timeout. 2021-05-18T16:46:38.400Z,1621356398.400 [NAL9602] Data Fault, FailCount= 5 2021-05-18T16:46:38.400Z,1621356398.400 [NAL9602](ERROR): Data Fault 2021-05-18T16:46:38.474Z,1621356398.474 [CBIT](ERROR): Data Fault in component: NAL9602 2021-05-18T16:46:38.474Z,1621356398.474 [CBIT](CRITICAL): Data Fault in component: NAL9602 2021-05-18T16:46:38.804Z,1621356398.804 [NAL9602](INFO): Powering down 2021-05-18T16:46:38.861Z,1621356398.861 [CBIT](INFO): Critical error at 20210518T164638 2021-05-18T16:46:38.861Z,1621356398.861 [Supervisor](INFO): Stop Mission called by CBIT::checkCriticals 2021-05-18T16:46:49.721Z,1621356409.721 [Default:A.Wait](INFO): Done Waiting. 2021-05-18T16:46:49.721Z,1621356409.721 [Default:A.Wait] Stopped 2021-05-18T16:46:49.722Z,1621356409.722 [Default:A.Wait](DEBUG): Uninitialize Wait Component. 2021-05-18T16:46:50.130Z,1621356410.130 [Default:CheckIn] Running Loop=1 2021-05-18T16:46:50.130Z,1621356410.130 [Default:CheckIn](DEBUG): Aggregate::initialize Default:CheckIn 2021-05-18T16:46:50.130Z,1621356410.130 [Default:CheckIn:Read_GPS] Running Loop=1 2021-05-18T16:48:38.439Z,1621356518.439 [CBIT](INFO): Clearing failed state for component NAL9602 2021-05-18T16:48:38.439Z,1621356518.439 [NAL9602] No Fault, FailCount= 5 2021-05-18T16:48:38.792Z,1621356518.792 [NAL9602](INFO): Powering up NAL9602 2021-05-18T16:48:49.701Z,1621356529.701 [NAL9602](INFO): NAL9602 initialized 2021-05-18T16:49:27.715Z,1621356567.715 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 12 2021-05-18T16:49:27.716Z,1621356567.716 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault 2021-05-18T16:49:27.726Z,1621356567.726 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources 2021-05-18T16:49:28.093Z,1621356568.093 [DAT](INFO): DAT read: user:22>Lowpower 2021-05-18T16:49:28.093Z,1621356568.093 [DAT](DEBUG): Re-entering command mode due to deviceResponse_: user:22>Lowpower 2021-05-18T16:49:28.146Z,1621356568.146 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources 2021-05-18T16:49:28.147Z,1621356568.147 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 12 2021-05-18T16:51:50.318Z,1621356710.318 [Default:CheckIn:Read_GPS](INFO): Timed out from 2021-05-18T16:46:50.1Z 2021-05-18T16:51:50.318Z,1621356710.318 [Default:CheckIn:Read_GPS] Stopped 2021-05-18T16:51:50.318Z,1621356710.318 [Default:CheckIn:Read_Iridium] Running Loop=1 2021-05-18T16:51:57.274Z,1621356717.274 [DataOverHttps](INFO): Sending 39 bytes from file Logs/20210518T161005/Courier0009.lzma 2021-05-18T16:51:58.277Z,1621356718.277 [DataOverHttps](INFO): Moved sent file to Logs/20210518T161005/Courier0009.lzma.bak 2021-05-18T16:51:58.277Z,1621356718.277 [DataOverHttps](INFO): SBD MOMSN=15648761 2021-05-18T16:52:13.739Z,1621356733.739 [DataOverHttps](INFO): Sending 203 bytes from file Logs/20210518T164428/Courier0000.lzma 2021-05-18T16:52:14.741Z,1621356734.741 [DataOverHttps](INFO): Moved sent file to Logs/20210518T164428/Courier0000.lzma.bak 2021-05-18T16:52:14.741Z,1621356734.741 [DataOverHttps](INFO): SBD MOMSN=15648763 2021-05-18T16:52:28.716Z,1621356748.716 [DeadReckonUsingMultipleVelocitySources] Software Fault, FailCount= 13 2021-05-18T16:52:28.716Z,1621356748.716 [DeadReckonUsingMultipleVelocitySources](ERROR): Software Fault 2021-05-18T16:52:28.734Z,1621356748.734 [CBIT](ERROR): Software Fault in component: DeadReckonUsingMultipleVelocitySources 2021-05-18T16:52:29.149Z,1621356749.149 [CBIT](INFO): Clearing failed state for component DeadReckonUsingMultipleVelocitySources 2021-05-18T16:52:29.149Z,1621356749.149 [DeadReckonUsingMultipleVelocitySources] No Fault, FailCount= 13 2021-05-18T16:52:31.899Z,1621356751.899 [DataOverHttps](INFO): Sending 178 bytes from file Logs/20210518T161005/Express0010.lzma 2021-05-18T16:52:32.901Z,1621356752.901 [DataOverHttps](INFO): Moved sent file to Logs/20210518T161005/Express0010.lzma.bak 2021-05-18T16:52:32.901Z,1621356752.901 [DataOverHttps](INFO): SBD MOMSN=15648767 2021-05-18T16:52:49.755Z,1621356769.755 [DataOverHttps](INFO): Sending 651 bytes from file Logs/20210518T164428/Express0001.lzma 2021-05-18T16:52:50.757Z,1621356770.757 [DataOverHttps](INFO): Moved sent file to Logs/20210518T164428/Express0001.lzma.bak 2021-05-18T16:52:50.757Z,1621356770.757 [DataOverHttps](INFO): SBD MOMSN=15648772 2021-05-18T16:52:53.377Z,1621356773.377 [Default:CheckIn:Read_Iridium] Stopped 2021-05-18T16:52:53.377Z,1621356773.377 [Default:CheckIn:C.Wait] Running Loop=1 2021-05-18T16:52:53.377Z,1621356773.377 [Default:CheckIn:C.Wait](DEBUG): Initialize Wait Component.