2026-03-22 08:49:18.968 | INFO | kogger_protocol_driver:setup_logging:81 - Kogger Protocol Driver: Loguru logging configured to level INFO and file log/2026-03-22_08-49-18_log_usv.log. 2026-03-22 08:49:18.968 | INFO | kogger_protocol_driver:__init__:224 - KoggerSBPDevice configured for port /dev/ttyAMA4, baudrate 921600, address 0 2026-03-22 08:49:18.969 | INFO | kogger_protocol_driver:_open_file:43 - CSV logging enabled to log/2026-03-22_08-49-18_AUV_usbl.csv 2026-03-22 08:49:18.970 | INFO | kogger_protocol_driver:_reader_thread_loop:491 - Reader thread started. 2026-03-22 08:49:18.971 | SUCCESS | kogger_protocol_driver:connect:314 - Successfully connected to /dev/ttyAMA4 at 921600 and started reader thread. 2026-03-22 08:49:18.985 | INFO | __main__:main:127 - set_auto_response_filter(0)=True 2026-03-22 08:49:18.987 | INFO | __main__:main:129 - set_auto_response_timeout(0xffffffff)=True 2026-03-22 08:49:18.989 | INFO | __main__:main:131 - set_auto_response_payload(0xff)=True 2026-03-22 08:49:19.323 | INFO | __main__:print_message:34 - printer:{ "id": 1, "role": 2, "reserved": 0, "timestamp_us": 1053428855, "ping_counter": 0, "carrier_counter": 31600540, "distance_m": 5.3650007247924805, "distance_unc": 0.0, "azimuth_deg": 84.4000015258789, "azimuth_unc": 0.0, "elevation_deg": -4.700001239776611, "elevation_unc": 0.0, "snr": 17.677278518676758, "beacon_x_m": 0.5235324501991272, "beacon_y_m": -5.339395523071289, "beacon_latitude": "nan", "beacon_longitude": "nan", "beacon_depth": 0.0, "usbl_yaw": 132.28631591796875, "usbl_pitch": -10.5097017288208, "usbl_roll": 175.99697875976562, "usbl_latitude": "nan", "usbl_longitude": "nan", "last_iTOW": 0, "beacon_n_m": -4.302293300628662, "beacon_e_m": -3.205230951309204, "code_snr": [ "nan", "nan", "nan", "nan", "nan", "nan", "nan", "nan" ] } 2026-03-22 08:49:20.314 | INFO | __main__:print_message:34 - printer:{ "id": 255, "role": 2, "reserved": 0, "timestamp_us": 1054418861, "ping_counter": 0, "carrier_counter": 31630648, "distance_m": 5.630833625793457, "distance_unc": 0.0, "azimuth_deg": 110.5, "azimuth_unc": 0.0, "elevation_deg": -56.0, "elevation_unc": 0.0, "snr": 18.06796646118164, "beacon_x_m": -1.9719597101211548, "beacon_y_m": -5.274245262145996, "beacon_latitude": "nan", "beacon_longitude": "nan", "beacon_depth": 0.0, "usbl_yaw": 131.7190704345703, "usbl_pitch": -11.494171142578125, "usbl_roll": 177.11781311035156, "usbl_latitude": "nan", "usbl_longitude": "nan", "last_iTOW": 0, "beacon_n_m": -2.6244890689849854, "beacon_e_m": -4.9818010330200195, "code_snr": [ "nan", "nan", "nan", "nan", "nan", "nan", "nan", "nan" ] } 2026-03-22 08:49:22.329 | INFO | __main__:print_message:34 - printer:{ "id": 255, "role": 2, "reserved": 0, "timestamp_us": 1056434760, "ping_counter": 0, "carrier_counter": 31690794, "distance_m": 5.630833625793457, "distance_unc": 0.0, "azimuth_deg": 107.80000305175781, "azimuth_unc": 0.0, "elevation_deg": -47.10000228881836, "elevation_unc": 0.0, "snr": 17.71337127685547, "beacon_x_m": -1.721319556236267, "beacon_y_m": -5.361281871795654, "beacon_latitude": "nan", "beacon_longitude": "nan", "beacon_depth": 0.0, "usbl_yaw": 132.2926788330078, "usbl_pitch": -11.163581848144531, "usbl_roll": 176.88021850585938, "usbl_latitude": "nan", "usbl_longitude": "nan", "last_iTOW": 0, "beacon_n_m": -2.807525396347046, "beacon_e_m": -4.880992412567139, "code_snr": [ "nan", "nan", "nan", "nan", "nan", "nan", "nan", "nan" ] } 2026-03-22 08:49:23.319 | INFO | __main__:print_message:34 - printer:{ "id": 2, "role": 2, "reserved": 0, "timestamp_us": 1057424760, "ping_counter": 0, "carrier_counter": 31720855, "distance_m": 5.534167289733887, "distance_unc": 0.0, "azimuth_deg": 103.19999694824219, "azimuth_unc": 0.0, "elevation_deg": 3.0999982357025146, "elevation_unc": 0.0, "snr": 17.313335418701172, "beacon_x_m": -1.263731837272644, "beacon_y_m": -5.387948513031006, "beacon_latitude": "nan", "beacon_longitude": "nan", "beacon_depth": 0.0, "usbl_yaw": 133.18313598632812, "usbl_pitch": -10.87153434753418, "usbl_roll": 176.30233764648438, "usbl_latitude": "nan", "usbl_longitude": "nan", "last_iTOW": 0, "beacon_n_m": -3.0639193058013916, "beacon_e_m": -4.608623027801514, "code_snr": [ "nan", "nan", "nan", "nan", "nan", "nan", "nan", "nan" ] } 2026-03-22 08:49:24.341 | INFO | __main__:print_message:34 - printer:{ "id": 1, "role": 2, "reserved": 0, "timestamp_us": 1058447837, "ping_counter": 0, "carrier_counter": 31750940, "distance_m": 5.3650007247924805, "distance_unc": 0.0, "azimuth_deg": 109.89999389648438, "azimuth_unc": 0.0, "elevation_deg": -23.200000762939453, "elevation_unc": 0.0, "snr": 17.326976776123047, "beacon_x_m": -1.8261356353759766, "beacon_y_m": -5.044646739959717, "beacon_latitude": "nan", "beacon_longitude": "nan", "beacon_depth": 0.0, "usbl_yaw": 133.1935272216797, "usbl_pitch": -11.217507362365723, "usbl_roll": 176.8171844482422, "usbl_latitude": "nan", "usbl_longitude": "nan", "last_iTOW": 0, "beacon_n_m": -2.427854537963867, "beacon_e_m": -4.784219264984131, "code_snr": [ "nan", "nan", "nan", "nan", "nan", "nan", "nan", "nan" ] } 2026-03-22 08:49:25.331 | INFO | __main__:print_message:34 - printer:{ "id": 1, "role": 2, "reserved": 0, "timestamp_us": 1059437852, "ping_counter": 0, "carrier_counter": 31781029, "distance_m": 5.34083366394043, "distance_unc": 0.0, "azimuth_deg": 70.0999984741211, "azimuth_unc": 0.0, "elevation_deg": -8.30000114440918, "elevation_unc": 0.0, "snr": 17.337350845336914, "beacon_x_m": 1.8179104328155518, "beacon_y_m": -5.021922588348389, "beacon_latitude": "nan", "beacon_longitude": "nan", "beacon_depth": 0.0, "usbl_yaw": 133.51600646972656, "usbl_pitch": -10.562745094299316, "usbl_roll": 176.4199676513672, "usbl_latitude": "nan", "usbl_longitude": "nan", "last_iTOW": 0, "beacon_n_m": -4.893543720245361, "beacon_e_m": -2.139564037322998, "code_snr": [ "nan", "nan", "nan", "nan", "nan", "nan", "nan", "nan" ] } 2026-03-22 08:49:26.355 | INFO | __main__:print_message:34 - printer:{ "id": 2, "role": 2, "reserved": 0, "timestamp_us": 1060460837, "ping_counter": 0, "carrier_counter": 31811100, "distance_m": 5.3650007247924805, "distance_unc": 0.0, "azimuth_deg": -126.30000305175781, "azimuth_unc": 0.0, "elevation_deg": -103.79999542236328, "elevation_unc": 0.0, "snr": 17.11989402770996, "beacon_x_m": -3.1761515140533447, "beacon_y_m": 4.323805332183838, "beacon_latitude": "nan", "beacon_longitude": "nan", "beacon_depth": 0.0, "usbl_yaw": 133.55126953125, "usbl_pitch": -11.149642944335938, "usbl_roll": 176.79420471191406, "usbl_latitude": "nan", "usbl_longitude": "nan", "last_iTOW": 0, "beacon_n_m": 5.322092533111572, "beacon_e_m": 0.6771743297576904, "code_snr": [ "nan", "nan", "nan", "nan", "nan", "nan", "nan", "nan" ] } 2026-03-22 08:49:27.346 | INFO | __main__:print_message:34 - printer:{ "id": 2, "role": 2, "reserved": 0, "timestamp_us": 1061450851, "ping_counter": 0, "carrier_counter": 31841199, "distance_m": 5.3650007247924805, "distance_unc": 0.0, "azimuth_deg": 9.400007247924805, "azimuth_unc": 0.0, "elevation_deg": -52.30000686645508, "elevation_unc": 0.0, "snr": 17.328378677368164, "beacon_x_m": 5.292960166931152, "beacon_y_m": -0.8762445449829102, "beacon_latitude": "nan", "beacon_longitude": "nan", "beacon_depth": 0.0, "usbl_yaw": 133.64111328125, "usbl_pitch": -11.24309253692627, "usbl_roll": 176.47857666015625, "usbl_latitude": "nan", "usbl_longitude": "nan", "last_iTOW": 0, "beacon_n_m": -4.286996841430664, "beacon_e_m": 3.225661516189575, "code_snr": [ "nan", "nan", "nan", "nan", "nan", "nan", "nan", "nan" ] } 2026-03-22 08:49:28.335 | INFO | __main__:print_message:34 - printer:{ "id": 1, "role": 2, "reserved": 0, "timestamp_us": 1062440710, "ping_counter": 0, "carrier_counter": 31871296, "distance_m": 5.3650007247924805, "distance_unc": 0.0, "azimuth_deg": 85.5, "azimuth_unc": 0.0, "elevation_deg": -53.30000305175781, "elevation_unc": 0.0, "snr": 17.491247177124023, "beacon_x_m": 0.4209330379962921, "beacon_y_m": -5.348462104797363, "beacon_latitude": "nan", "beacon_longitude": "nan", "beacon_depth": 0.0, "usbl_yaw": 133.8328399658203, "usbl_pitch": -10.47528076171875, "usbl_roll": 176.80291748046875, "usbl_latitude": "nan", "usbl_longitude": "nan", "last_iTOW": 0, "beacon_n_m": -4.149704933166504, "beacon_e_m": -3.400467872619629, "code_snr": [ "nan", "nan", "nan", "nan", "nan", "nan", "nan", "nan" ] } 2026-03-22 08:49:29.361 | INFO | __main__:print_message:34 - printer:{ "id": 1, "role": 2, "reserved": 0, "timestamp_us": 1063466857, "ping_counter": 0, "carrier_counter": 31901368, "distance_m": 5.3650007247924805, "distance_unc": 0.0, "azimuth_deg": 115.5999984741211, "azimuth_unc": 0.0, "elevation_deg": -35.10000228881836, "elevation_unc": 0.0, "snr": 17.731340408325195, "beacon_x_m": -2.3181397914886475, "beacon_y_m": -4.838332653045654, "beacon_latitude": "nan", "beacon_longitude": "nan", "beacon_depth": 0.0, "usbl_yaw": 134.13609313964844, "usbl_pitch": -11.042613983154297, "usbl_roll": 176.64231872558594, "usbl_latitude": "nan", "usbl_longitude": "nan", "last_iTOW": 0, "beacon_n_m": -1.8581405878067017, "beacon_e_m": -5.0329461097717285, "code_snr": [ "nan", "nan", "nan", "nan", "nan", "nan", "nan", "nan" ] } 2026-03-22 08:49:30.347 | INFO | __main__:print_message:34 - printer:{ "id": 1, "role": 2, "reserved": 0, "timestamp_us": 1064453786, "ping_counter": 0, "carrier_counter": 31931447, "distance_m": 5.3650007247924805, "distance_unc": 0.0, "azimuth_deg": 123.5, "azimuth_unc": 0.0, "elevation_deg": -11.30000114440918, "elevation_unc": 0.0, "snr": 17.847354888916016, "beacon_x_m": -2.961142063140869, "beacon_y_m": -4.4737982749938965, "beacon_latitude": "nan", "beacon_longitude": "nan", "beacon_depth": 0.0, "usbl_yaw": 134.70327758789062, "usbl_pitch": -10.788965225219727, "usbl_roll": 176.43887329101562, "usbl_latitude": "nan", "usbl_longitude": "nan", "last_iTOW": 0, "beacon_n_m": -1.0968208312988281, "beacon_e_m": -5.251687049865723, "code_snr": [ "nan", "nan", "nan", "nan", "nan", "nan", "nan", "nan" ] } 2026-03-22 08:49:31.337 | INFO | __main__:print_message:34 - printer:{ "id": 1, "role": 2, "reserved": 0, "timestamp_us": 1065443760, "ping_counter": 0, "carrier_counter": 31961526, "distance_m": 5.2925004959106445, "distance_unc": 0.0, "azimuth_deg": 104.0, "azimuth_unc": 0.0, "elevation_deg": 9.299997329711914, "elevation_unc": 0.0, "snr": 17.250953674316406, "beacon_x_m": -1.2803716659545898, "beacon_y_m": -5.135290622711182, "beacon_latitude": "nan", "beacon_longitude": "nan", "beacon_depth": 0.0, "usbl_yaw": 134.85777282714844, "usbl_pitch": -10.849724769592285, "usbl_roll": 176.68118286132812, "usbl_latitude": "nan", "usbl_longitude": "nan", "last_iTOW": 0, "beacon_n_m": -2.737091541290283, "beacon_e_m": -4.529778480529785, "code_snr": [ "nan", "nan", "nan", "nan", "nan", "nan", "nan", "nan" ] } 2026-03-22 08:49:33.353 | INFO | __main__:print_message:34 - printer:{ "id": 1, "role": 2, "reserved": 0, "timestamp_us": 1067459836, "ping_counter": 0, "carrier_counter": 32021695, "distance_m": 5.34083366394043, "distance_unc": 0.0, "azimuth_deg": 52.100006103515625, "azimuth_unc": 0.0, "elevation_deg": -59.30000305175781, "elevation_unc": 0.0, "snr": 17.164791107177734, "beacon_x_m": 3.280794620513916, "beacon_y_m": -4.214366912841797, "beacon_latitude": "nan", "beacon_longitude": "nan", "beacon_depth": 0.0, "usbl_yaw": 134.5281219482422, "usbl_pitch": -11.390545845031738, "usbl_roll": 176.75497436523438, "usbl_latitude": "nan", "usbl_longitude": "nan", "last_iTOW": 0, "beacon_n_m": -5.305136680603027, "beacon_e_m": -0.6164636015892029, "code_snr": [ "nan", "nan", "nan", "nan", "nan", "nan", "nan", "nan" ] } 2026-03-22 08:49:35.367 | INFO | __main__:print_message:34 - printer:{ "id": 1, "role": 2, "reserved": 0, "timestamp_us": 1069472780, "ping_counter": 0, "carrier_counter": 32081875, "distance_m": 5.268333911895752, "distance_unc": 0.0, "azimuth_deg": 101.9000015258789, "azimuth_unc": 0.0, "elevation_deg": -6.7000017166137695, "elevation_unc": 0.0, "snr": 17.408477783203125, "beacon_x_m": -1.0863527059555054, "beacon_y_m": -5.155111789703369, "beacon_latitude": "nan", "beacon_longitude": "nan", "beacon_depth": 0.0, "usbl_yaw": 136.0665283203125, "usbl_pitch": -10.824348449707031, "usbl_roll": 176.63134765625, "usbl_latitude": "nan", "usbl_longitude": "nan", "last_iTOW": 0, "beacon_n_m": -2.7944016456604004, "beacon_e_m": -4.466168403625488, "code_snr": [ "nan", "nan", "nan", "nan", "nan", "nan", "nan", "nan" ] } 2026-03-22 08:49:36.357 | INFO | __main__:print_message:34 - printer:{ "id": 255, "role": 2, "reserved": 0, "timestamp_us": 1070462775, "ping_counter": 0, "carrier_counter": 32111946, "distance_m": 5.655000686645508, "distance_unc": 0.0, "azimuth_deg": 117.19999694824219, "azimuth_unc": 0.0, "elevation_deg": -44.0, "elevation_unc": 0.0, "snr": 18.393396377563477, "beacon_x_m": -2.584888458251953, "beacon_y_m": -5.0296502113342285, "beacon_latitude": "nan", "beacon_longitude": "nan", "beacon_depth": 0.0, "usbl_yaw": 136.0863800048828, "usbl_pitch": -10.885085105895996, "usbl_roll": 176.70150756835938, "usbl_latitude": "nan", "usbl_longitude": "nan", "last_iTOW": 0, "beacon_n_m": -1.6263130903244019, "beacon_e_m": -5.416100025177002, "code_snr": [ "nan", "nan", "nan", "nan", "nan", "nan", "nan", "nan" ] } 2026-03-22 08:49:37.380 | INFO | __main__:print_message:34 - printer:{ "id": 1, "role": 2, "reserved": 0, "timestamp_us": 1071485769, "ping_counter": 0, "carrier_counter": 32142019, "distance_m": 5.316667079925537, "distance_unc": 0.0, "azimuth_deg": 104.69999694824219, "azimuth_unc": 0.0, "elevation_deg": 39.69999694824219, "elevation_unc": 0.0, "snr": 17.630970001220703, "beacon_x_m": -1.3491462469100952, "beacon_y_m": -5.142640590667725, "beacon_latitude": "nan", "beacon_longitude": "nan", "beacon_depth": 0.0, "usbl_yaw": 136.13787841796875, "usbl_pitch": -10.661099433898926, "usbl_roll": 176.63031005859375, "usbl_latitude": "nan", "usbl_longitude": "nan", "last_iTOW": 0, "beacon_n_m": -2.5907185077667236, "beacon_e_m": -4.642749786376953, "code_snr": [ "nan", "nan", "nan", "nan", "nan", "nan", "nan", "nan" ] } 2026-03-22 08:49:41.376 | INFO | __main__:print_message:34 - printer:{ "id": 8, "role": 2, "reserved": 0, "timestamp_us": 1075481852, "ping_counter": 0, "carrier_counter": 32262362, "distance_m": 5.3650007247924805, "distance_unc": 0.0, "azimuth_deg": 27.19999885559082, "azimuth_unc": 0.0, "elevation_deg": 52.89999771118164, "elevation_unc": 0.0, "snr": 17.491342544555664, "beacon_x_m": 4.771719455718994, "beacon_y_m": -2.4523305892944336, "beacon_latitude": "nan", "beacon_longitude": "nan", "beacon_depth": 0.0, "usbl_yaw": 137.14990234375, "usbl_pitch": -10.538545608520508, "usbl_roll": 176.85910034179688, "usbl_latitude": "nan", "usbl_longitude": "nan", "last_iTOW": 0, "beacon_n_m": -5.166104316711426, "beacon_e_m": 1.4472732543945312, "code_snr": [ "nan", "nan", "nan", "nan", "nan", "nan", "nan", "nan" ] } 2026-03-22 08:49:44.380 | INFO | __main__:print_message:34 - printer:{ "id": 8, "role": 2, "reserved": 0, "timestamp_us": 1078484776, "ping_counter": 0, "carrier_counter": 32352636, "distance_m": 5.3650007247924805, "distance_unc": 0.0, "azimuth_deg": 96.19998931884766, "azimuth_unc": 0.0, "elevation_deg": -44.80000305175781, "elevation_unc": 0.0, "snr": 17.237899780273438, "beacon_x_m": -0.5794157385826111, "beacon_y_m": -5.333621025085449, "beacon_latitude": "nan", "beacon_longitude": "nan", "beacon_depth": 0.0, "usbl_yaw": 138.22242736816406, "usbl_pitch": -10.573490142822266, "usbl_roll": 176.5525360107422, "usbl_latitude": "nan", "usbl_longitude": "nan", "last_iTOW": 0, "beacon_n_m": -3.12138295173645, "beacon_e_m": -4.363508224487305, "code_snr": [ "nan", "nan", "nan", "nan", "nan", "nan", "nan", "nan" ] } 2026-03-22 08:49:46.392 | INFO | __main__:print_message:34 - printer:{ "id": 8, "role": 2, "reserved": 0, "timestamp_us": 1080497864, "ping_counter": 0, "carrier_counter": 32412783, "distance_m": 5.3650007247924805, "distance_unc": 0.0, "azimuth_deg": 72.30000305175781, "azimuth_unc": 0.0, "elevation_deg": -36.70000076293945, "elevation_unc": 0.0, "snr": 17.588912963867188, "beacon_x_m": 1.6311371326446533, "beacon_y_m": -5.111029624938965, "beacon_latitude": "nan", "beacon_longitude": "nan", "beacon_depth": 0.0, "usbl_yaw": 138.55136108398438, "usbl_pitch": -10.101583480834961, "usbl_roll": 176.2457275390625, "usbl_latitude": "nan", "usbl_longitude": "nan", "last_iTOW": 0, "beacon_n_m": -4.605856418609619, "beacon_e_m": -2.751239776611328, "code_snr": [ "nan", "nan", "nan", "nan", "nan", "nan", "nan", "nan" ] } 2026-03-22 08:49:49.396 | INFO | __main__:print_message:34 - printer:{ "id": 8, "role": 2, "reserved": 0, "timestamp_us": 1083501238, "ping_counter": 0, "carrier_counter": 32503017, "distance_m": 5.3650007247924805, "distance_unc": 0.0, "azimuth_deg": 172.89999389648438, "azimuth_unc": 0.0, "elevation_deg": -11.900001525878906, "elevation_unc": 0.0, "snr": 17.99226951599121, "beacon_x_m": -5.323861598968506, "beacon_y_m": -0.6631224155426025, "beacon_latitude": "nan", "beacon_longitude": "nan", "beacon_depth": 0.0, "usbl_yaw": 138.96632385253906, "usbl_pitch": -11.006739616394043, "usbl_roll": 176.61827087402344, "usbl_latitude": "nan", "usbl_longitude": "nan", "last_iTOW": 0, "beacon_n_m": 3.5805747509002686, "beacon_e_m": -3.9953370094299316, "code_snr": [ "nan", "nan", "nan", "nan", "nan", "nan", "nan", "nan" ] } 2026-03-22 08:49:50.179 | INFO | kogger_protocol_driver:_reader_thread_loop:568 - Reader thread finished. 2026-03-22 08:49:50.180 | INFO | kogger_protocol_driver:disconnect:352 - Serial port /dev/ttyAMA4 closed. 2026-03-22 08:49:50.181 | INFO | kogger_protocol_driver:disconnect:364 - Disconnected and cleaned up.