2026-03-22 08:42:12.672 | INFO | kogger_protocol_driver:setup_logging:81 - Kogger Protocol Driver: Loguru logging configured to level INFO and file log/2026-03-22_08-42-12_log_usv.log. 2026-03-22 08:42:12.673 | INFO | kogger_protocol_driver:__init__:224 - KoggerSBPDevice configured for port /dev/ttyAMA4, baudrate 921600, address 0 2026-03-22 08:42:12.673 | INFO | kogger_protocol_driver:_open_file:43 - CSV logging enabled to log/2026-03-22_08-42-12_AUV_usbl.csv 2026-03-22 08:42:12.675 | INFO | kogger_protocol_driver:_reader_thread_loop:491 - Reader thread started. 2026-03-22 08:42:12.675 | SUCCESS | kogger_protocol_driver:connect:314 - Successfully connected to /dev/ttyAMA4 at 921600 and started reader thread. 2026-03-22 08:42:12.689 | INFO | __main__:main:127 - set_auto_response_filter(0)=True 2026-03-22 08:42:12.692 | INFO | __main__:main:129 - set_auto_response_timeout(0xffffffff)=True 2026-03-22 08:42:12.695 | INFO | __main__:main:131 - set_auto_response_payload(0xff)=True 2026-03-22 08:42:13.022 | INFO | __main__:print_message:34 - printer:{ "id": 255, "role": 2, "reserved": 0, "timestamp_us": 627137836, "ping_counter": 0, "carrier_counter": 18811962, "distance_m": 5.461667060852051, "distance_unc": 0.0, "azimuth_deg": 124.50000762939453, "azimuth_unc": 0.0, "elevation_deg": 4.399997711181641, "elevation_unc": 0.0, "snr": 18.657821655273438, "beacon_x_m": -3.093522787094116, "beacon_y_m": -4.501102447509766, "beacon_latitude": "nan", "beacon_longitude": "nan", "beacon_depth": 0.0, "usbl_yaw": 28.050363540649414, "usbl_pitch": -11.651932716369629, "usbl_roll": 175.16773986816406, "usbl_latitude": "nan", "usbl_longitude": "nan", "last_iTOW": 0, "beacon_n_m": -4.84677267074585, "beacon_e_m": 2.517657995223999, "code_snr": [ "nan", "nan", "nan", "nan", "nan", "nan", "nan", "nan" ] } 2026-03-22 08:42:14.048 | INFO | __main__:print_message:34 - printer:{ "id": 255, "role": 2, "reserved": 0, "timestamp_us": 628163775, "ping_counter": 0, "carrier_counter": 18842083, "distance_m": 5.316667079925537, "distance_unc": 0.0, "azimuth_deg": -126.4000015258789, "azimuth_unc": 0.0, "elevation_deg": -51.0, "elevation_unc": 0.0, "snr": 19.11937141418457, "beacon_x_m": -3.15501070022583, "beacon_y_m": 4.279352188110352, "beacon_latitude": "nan", "beacon_longitude": "nan", "beacon_depth": 0.0, "usbl_yaw": 29.70674705505371, "usbl_pitch": -10.926020622253418, "usbl_roll": 174.7626953125, "usbl_latitude": "nan", "usbl_longitude": "nan", "last_iTOW": 0, "beacon_n_m": -0.6196776628494263, "beacon_e_m": -5.280430793762207, "code_snr": [ "nan", "nan", "nan", "nan", "nan", "nan", "nan", "nan" ] } 2026-03-22 08:42:15.038 | INFO | __main__:print_message:34 - printer:{ "id": 1, "role": 2, "reserved": 0, "timestamp_us": 629153766, "ping_counter": 0, "carrier_counter": 18872147, "distance_m": 5.2925004959106445, "distance_unc": 0.0, "azimuth_deg": -158.2000274658203, "azimuth_unc": 0.0, "elevation_deg": -61.30000686645508, "elevation_unc": 0.0, "snr": 19.191516876220703, "beacon_x_m": -4.914012432098389, "beacon_y_m": 1.965462565422058, "beacon_latitude": "nan", "beacon_longitude": "nan", "beacon_depth": 0.0, "usbl_yaw": 30.35746192932129, "usbl_pitch": -11.57746696472168, "usbl_roll": 175.2351531982422, "usbl_latitude": "nan", "usbl_longitude": "nan", "last_iTOW": 0, "beacon_n_m": -3.2469165325164795, "beacon_e_m": -4.179484844207764, "code_snr": [ "nan", "nan", "nan", "nan", "nan", "nan", "nan", "nan" ] } 2026-03-22 08:42:16.028 | INFO | __main__:print_message:34 - printer:{ "id": 1, "role": 2, "reserved": 0, "timestamp_us": 630143777, "ping_counter": 0, "carrier_counter": 18902233, "distance_m": 5.751667022705078, "distance_unc": 0.0, "azimuth_deg": 140.40000915527344, "azimuth_unc": 0.0, "elevation_deg": -33.400001525878906, "elevation_unc": 0.0, "snr": 18.555252075195312, "beacon_x_m": -4.431735992431641, "beacon_y_m": -3.666250228881836, "beacon_latitude": "nan", "beacon_longitude": "nan", "beacon_depth": 0.0, "usbl_yaw": 30.496990203857422, "usbl_pitch": -11.60535717010498, "usbl_roll": 175.08653259277344, "usbl_latitude": "nan", "usbl_longitude": "nan", "last_iTOW": 0, "beacon_n_m": -5.679227352142334, "beacon_e_m": 0.9099710583686829, "code_snr": [ "nan", "nan", "nan", "nan", "nan", "nan", "nan", "nan" ] } 2026-03-22 08:42:17.052 | INFO | __main__:print_message:34 - printer:{ "id": 1, "role": 2, "reserved": 0, "timestamp_us": 631167041, "ping_counter": 0, "carrier_counter": 18932290, "distance_m": 5.582500457763672, "distance_unc": 0.0, "azimuth_deg": 31.400005340576172, "azimuth_unc": 0.0, "elevation_deg": -48.500003814697266, "elevation_unc": 0.0, "snr": 17.89293098449707, "beacon_x_m": 4.764947414398193, "beacon_y_m": -2.908536911010742, "beacon_latitude": "nan", "beacon_longitude": "nan", "beacon_depth": 0.0, "usbl_yaw": 31.388154983520508, "usbl_pitch": -12.026944160461426, "usbl_roll": 174.92153930664062, "usbl_latitude": "nan", "usbl_longitude": "nan", "last_iTOW": 0, "beacon_n_m": 2.5527753829956055, "beacon_e_m": 4.964640140533447, "code_snr": [ "nan", "nan", "nan", "nan", "nan", "nan", "nan", "nan" ] } 2026-03-22 08:42:18.042 | INFO | __main__:print_message:34 - printer:{ "id": 255, "role": 2, "reserved": 0, "timestamp_us": 632156845, "ping_counter": 0, "carrier_counter": 18962322, "distance_m": 4.736667156219482, "distance_unc": 0.0, "azimuth_deg": 64.60000610351562, "azimuth_unc": 0.0, "elevation_deg": 10.699997901916504, "elevation_unc": 0.0, "snr": 19.267122268676758, "beacon_x_m": 2.0317225456237793, "beacon_y_m": -4.278798580169678, "beacon_latitude": "nan", "beacon_longitude": "nan", "beacon_depth": 0.0, "usbl_yaw": 32.039127349853516, "usbl_pitch": -11.095342636108398, "usbl_roll": 175.1818084716797, "usbl_latitude": "nan", "usbl_longitude": "nan", "last_iTOW": 0, "beacon_n_m": -0.5476324558258057, "beacon_e_m": 4.7049031257629395, "code_snr": [ "nan", "nan", "nan", "nan", "nan", "nan", "nan", "nan" ] } 2026-03-22 08:42:19.032 | INFO | __main__:print_message:34 - printer:{ "id": 255, "role": 2, "reserved": 0, "timestamp_us": 633146844, "ping_counter": 0, "carrier_counter": 18992481, "distance_m": 6.186666965484619, "distance_unc": 0.0, "azimuth_deg": 141.3000030517578, "azimuth_unc": 0.0, "elevation_deg": 31.999996185302734, "elevation_unc": 0.0, "snr": 19.609588623046875, "beacon_x_m": -4.828263282775879, "beacon_y_m": -3.8681676387786865, "beacon_latitude": "nan", "beacon_longitude": "nan", "beacon_depth": 0.0, "usbl_yaw": 32.43309020996094, "usbl_pitch": -11.875005722045898, "usbl_roll": 175.1897735595703, "usbl_latitude": "nan", "usbl_longitude": "nan", "last_iTOW": 0, "beacon_n_m": -6.149696350097656, "beacon_e_m": 0.6753368973731995, "code_snr": [ "nan", "nan", "nan", "nan", "nan", "nan", "nan", "nan" ] } 2026-03-22 08:42:20.057 | INFO | __main__:print_message:34 - printer:{ "id": 1, "role": 2, "reserved": 0, "timestamp_us": 634169834, "ping_counter": 0, "carrier_counter": 19022518, "distance_m": 5.485833644866943, "distance_unc": 0.0, "azimuth_deg": -88.30003356933594, "azimuth_unc": 0.0, "elevation_deg": 47.59999465942383, "elevation_unc": 0.0, "snr": 18.89896583557129, "beacon_x_m": 0.1627405732870102, "beacon_y_m": 5.483419418334961, "beacon_latitude": "nan", "beacon_longitude": "nan", "beacon_depth": 0.0, "usbl_yaw": 32.6292839050293, "usbl_pitch": -11.45814323425293, "usbl_roll": 175.0317840576172, "usbl_latitude": "nan", "usbl_longitude": "nan", "last_iTOW": 0, "beacon_n_m": 3.0937230587005615, "beacon_e_m": -4.530259132385254, "code_snr": [ "nan", "nan", "nan", "nan", "nan", "nan", "nan", "nan" ] } 2026-03-22 08:42:21.045 | INFO | __main__:print_message:34 - printer:{ "id": 255, "role": 2, "reserved": 0, "timestamp_us": 635159686, "ping_counter": 0, "carrier_counter": 19052574, "distance_m": 5.195833683013916, "distance_unc": 0.0, "azimuth_deg": 31.700000762939453, "azimuth_unc": 0.0, "elevation_deg": -47.80000305175781, "elevation_unc": 0.0, "snr": 17.43056297302246, "beacon_x_m": 4.42067289352417, "beacon_y_m": -2.7302634716033936, "beacon_latitude": "nan", "beacon_longitude": "nan", "beacon_depth": 0.0, "usbl_yaw": 32.959983825683594, "usbl_pitch": -11.776886940002441, "usbl_roll": 174.8262176513672, "usbl_latitude": "nan", "usbl_longitude": "nan", "last_iTOW": 0, "beacon_n_m": 2.2237608432769775, "beacon_e_m": 4.695910453796387, "code_snr": [ "nan", "nan", "nan", "nan", "nan", "nan", "nan", "nan" ] } 2026-03-22 08:42:24.048 | INFO | __main__:print_message:34 - printer:{ "id": 255, "role": 2, "reserved": 0, "timestamp_us": 638162774, "ping_counter": 0, "carrier_counter": 19142830, "distance_m": 5.945000648498535, "distance_unc": 0.0, "azimuth_deg": 20.800003051757812, "azimuth_unc": 0.0, "elevation_deg": -17.200000762939453, "elevation_unc": 0.0, "snr": 20.81231689453125, "beacon_x_m": 5.557538986206055, "beacon_y_m": -2.1111114025115967, "beacon_latitude": "nan", "beacon_longitude": "nan", "beacon_depth": 0.0, "usbl_yaw": 33.21943664550781, "usbl_pitch": -11.850896835327148, "usbl_roll": 175.27117919921875, "usbl_latitude": "nan", "usbl_longitude": "nan", "last_iTOW": 0, "beacon_n_m": 3.4927515983581543, "beacon_e_m": 4.810791969299316, "code_snr": [ "nan", "nan", "nan", "nan", "nan", "nan", "nan", "nan" ] } 2026-03-22 08:42:25.074 | INFO | __main__:print_message:34 - printer:{ "id": 255, "role": 2, "reserved": 0, "timestamp_us": 639188851, "ping_counter": 0, "carrier_counter": 19172945, "distance_m": 6.645833969116211, "distance_unc": 0.0, "azimuth_deg": 153.8000030517578, "azimuth_unc": 0.0, "elevation_deg": 16.89999771118164, "elevation_unc": 0.0, "snr": 20.721336364746094, "beacon_x_m": -5.9630303382873535, "beacon_y_m": -2.9341745376586914, "beacon_latitude": "nan", "beacon_longitude": "nan", "beacon_depth": 0.0, "usbl_yaw": 33.57948303222656, "usbl_pitch": -12.30569076538086, "usbl_roll": 175.41395568847656, "usbl_latitude": "nan", "usbl_longitude": "nan", "last_iTOW": 0, "beacon_n_m": -6.590787887573242, "beacon_e_m": -0.8535951375961304, "code_snr": [ "nan", "nan", "nan", "nan", "nan", "nan", "nan", "nan" ] } 2026-03-22 08:42:26.064 | INFO | __main__:print_message:34 - printer:{ "id": 1, "role": 2, "reserved": 0, "timestamp_us": 640178851, "ping_counter": 0, "carrier_counter": 19202958, "distance_m": 5.316667079925537, "distance_unc": 0.0, "azimuth_deg": 102.5999984741211, "azimuth_unc": 0.0, "elevation_deg": -7.500001907348633, "elevation_unc": 0.0, "snr": 17.46601104736328, "beacon_x_m": -1.1597950458526611, "beacon_y_m": -5.188624382019043, "beacon_latitude": "nan", "beacon_longitude": "nan", "beacon_depth": 0.0, "usbl_yaw": 33.905853271484375, "usbl_pitch": -11.852455139160156, "usbl_roll": 175.54457092285156, "usbl_latitude": "nan", "usbl_longitude": "nan", "last_iTOW": 0, "beacon_n_m": -3.856947898864746, "beacon_e_m": 3.659358024597168, "code_snr": [ "nan", "nan", "nan", "nan", "nan", "nan", "nan", "nan" ] } 2026-03-22 08:42:30.058 | INFO | __main__:print_message:34 - printer:{ "id": 4, "role": 2, "reserved": 0, "timestamp_us": 644171869, "ping_counter": 0, "carrier_counter": 19323313, "distance_m": 5.99333381652832, "distance_unc": 0.0, "azimuth_deg": 130.6999969482422, "azimuth_unc": 0.0, "elevation_deg": 9.199997901916504, "elevation_unc": 0.0, "snr": 19.3284854888916, "beacon_x_m": -3.908243417739868, "beacon_y_m": -4.543752193450928, "beacon_latitude": "nan", "beacon_longitude": "nan", "beacon_depth": 0.0, "usbl_yaw": 34.13526153564453, "usbl_pitch": -11.99602222442627, "usbl_roll": 175.41482543945312, "usbl_latitude": "nan", "usbl_longitude": "nan", "last_iTOW": 0, "beacon_n_m": -5.784631729125977, "beacon_e_m": 1.5678273439407349, "code_snr": [ "nan", "nan", "nan", "nan", "nan", "nan", "nan", "nan" ] } 2026-03-22 08:42:35.075 | INFO | __main__:print_message:34 - printer:{ "id": 3, "role": 2, "reserved": 0, "timestamp_us": 649187868, "ping_counter": 0, "carrier_counter": 19473726, "distance_m": 5.872500419616699, "distance_unc": 0.0, "azimuth_deg": -156.3000030517578, "azimuth_unc": 0.0, "elevation_deg": 30.599994659423828, "elevation_unc": 0.0, "snr": 18.03278160095215, "beacon_x_m": -5.377228736877441, "beacon_y_m": 2.360438346862793, "beacon_latitude": "nan", "beacon_longitude": "nan", "beacon_depth": 0.0, "usbl_yaw": 36.34476852416992, "usbl_pitch": -12.077938079833984, "usbl_roll": 175.67010498046875, "usbl_latitude": "nan", "usbl_longitude": "nan", "last_iTOW": 0, "beacon_n_m": -2.9322750568389893, "beacon_e_m": -5.088027477264404, "code_snr": [ "nan", "nan", "nan", "nan", "nan", "nan", "nan", "nan" ] } 2026-03-22 08:42:46.099 | INFO | __main__:print_message:34 - printer:{ "id": 2, "role": 2, "reserved": 0, "timestamp_us": 660212792, "ping_counter": 0, "carrier_counter": 19804586, "distance_m": 5.6066670417785645, "distance_unc": 0.0, "azimuth_deg": 15.499994277954102, "azimuth_unc": 0.0, "elevation_deg": 11.199997901916504, "elevation_unc": 0.0, "snr": 17.539196014404297, "beacon_x_m": 5.402755260467529, "beacon_y_m": -1.4983160495758057, "beacon_latitude": "nan", "beacon_longitude": "nan", "beacon_depth": 0.0, "usbl_yaw": 38.88618087768555, "usbl_pitch": -11.584259986877441, "usbl_roll": 175.70375061035156, "usbl_latitude": "nan", "usbl_longitude": "nan", "last_iTOW": 0, "beacon_n_m": 3.264869451522827, "beacon_e_m": 4.557997703552246, "code_snr": [ "nan", "nan", "nan", "nan", "nan", "nan", "nan", "nan" ] } 2026-03-22 08:42:51.118 | INFO | __main__:print_message:34 - printer:{ "id": 3, "role": 2, "reserved": 0, "timestamp_us": 665231835, "ping_counter": 0, "carrier_counter": 19954968, "distance_m": 5.413333892822266, "distance_unc": 0.0, "azimuth_deg": -11.30000114440918, "azimuth_unc": 0.0, "elevation_deg": 23.69999885559082, "elevation_unc": 0.0, "snr": 17.977581024169922, "beacon_x_m": 5.308394432067871, "beacon_y_m": 1.0607221126556396, "beacon_latitude": "nan", "beacon_longitude": "nan", "beacon_depth": 0.0, "usbl_yaw": 39.83439636230469, "usbl_pitch": -12.056816101074219, "usbl_roll": 175.6454315185547, "usbl_latitude": "nan", "usbl_longitude": "nan", "last_iTOW": 0, "beacon_n_m": 4.755778789520264, "beacon_e_m": 2.5858752727508545, "code_snr": [ "nan", "nan", "nan", "nan", "nan", "nan", "nan", "nan" ] } 2026-03-22 08:42:56.137 | INFO | __main__:print_message:34 - printer:{ "id": 4, "role": 2, "reserved": 0, "timestamp_us": 670250856, "ping_counter": 0, "carrier_counter": 20105377, "distance_m": 5.872500419616699, "distance_unc": 0.0, "azimuth_deg": 110.79999542236328, "azimuth_unc": 0.0, "elevation_deg": 18.099998474121094, "elevation_unc": 0.0, "snr": 18.67030143737793, "beacon_x_m": -2.0853655338287354, "beacon_y_m": -5.489764213562012, "beacon_latitude": "nan", "beacon_longitude": "nan", "beacon_depth": 0.0, "usbl_yaw": 39.86298370361328, "usbl_pitch": -12.253400802612305, "usbl_roll": 175.99600219726562, "usbl_latitude": "nan", "usbl_longitude": "nan", "last_iTOW": 0, "beacon_n_m": -5.1193695068359375, "beacon_e_m": 2.8772060871124268, "code_snr": [ "nan", "nan", "nan", "nan", "nan", "nan", "nan", "nan" ] } 2026-03-22 08:42:56.239 | INFO | kogger_protocol_driver:_reader_thread_loop:568 - Reader thread finished. 2026-03-22 08:42:56.240 | INFO | kogger_protocol_driver:disconnect:352 - Serial port /dev/ttyAMA4 closed. 2026-03-22 08:42:56.240 | INFO | kogger_protocol_driver:disconnect:364 - Disconnected and cleaned up.