2025-08-08T21:28:00.497Z,1754688480.497 [CommandExec](IMPORTANT): got command restart logs
2025-08-08T21:28:00.807Z,1754688480.807 [lineCaptureHoming:InitialDive:B.Mass] Running Loop=1
2025-08-08T21:28:00.808Z,1754688480.808 [lineCaptureHoming:InitialDive:A.SetSpeed] Running Loop=1
2025-08-08T21:28:10.658Z,1754688490.658 [NAL9602](INFO): SBD MO Status=0, MOMSN=515, MT Status=0, MTMSN=0
2025-08-08T21:28:10.658Z,1754688490.658 [NAL9602](INFO): No messages in MT queue
2025-08-08T21:28:36.910Z,1754688516.910 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 0.80 m/s, pitch 30.00 deg, mass-position 20.71 mm (2 active estimators).
2025-08-08T21:28:38.206Z,1754688518.206 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-08T21:28:38.409Z,1754688518.409 [DAT](DEBUG): Acoustic response timeout
2025-08-08T21:28:38.409Z,1754688518.409 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-08T21:28:38.661Z,1754688518.661 [DAT](INFO): DAT read: user:1156>

2025-08-08T21:28:38.662Z,1754688518.662 [DAT](INFO): DAT read: Tx time:21:28:38.4021

2025-08-08T21:28:38.662Z,1754688518.662 [DAT](INFO): Ping request sent.
2025-08-08T21:28:38.662Z,1754688518.662 [DAT](INFO): transmitted an acoustic signal
2025-08-08T21:28:38.662Z,1754688518.662 [DAT](INFO): publishing transmit ping time
2025-08-08T21:28:38.663Z,1754688518.663 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000753
2025-08-08T21:28:38.913Z,1754688518.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251023
2025-08-08T21:28:39.165Z,1754688519.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502861
2025-08-08T21:28:39.418Z,1754688519.418 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756190
2025-08-08T21:28:39.669Z,1754688519.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006926
2025-08-08T21:28:39.921Z,1754688519.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258911
2025-08-08T21:28:40.173Z,1754688520.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511482
2025-08-08T21:28:40.425Z,1754688520.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762892
2025-08-08T21:28:40.677Z,1754688520.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014820
2025-08-08T21:28:40.929Z,1754688520.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267117
2025-08-08T21:28:41.181Z,1754688521.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518946
2025-08-08T21:28:41.346Z,1754688521.346 [NAL9602](INFO): Not Powering down - fast GPS
2025-08-08T21:28:41.435Z,1754688521.435 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772915
2025-08-08T21:28:41.690Z,1754688521.690 [DAT](INFO): DAT read: 21:28:40.9455 LVL= 32752, 27457, 32754, 32755, AGC= 74, IDX= 439, 0.10, 2.599,-2.192, 2.650, 2.936, PHS=-0.236, 1.199,-0.331, RAW= 333.2,  -8.6, CAL= 332.8, -11.7, ROT= 177.2,  11.7

2025-08-08T21:28:41.691Z,1754688521.691 [DAT](INFO): got valid direction response:
 21:28:40.9455 LVL= 32752, 27457, 32754, 32755, AGC= 74, IDX= 439, 0.10, 2.599,-2.192, 2.650, 2.936, PHS=-0.236, 1.199,-0.331, RAW= 333.2,  -8.6, CAL= 332.8, -11.7, ROT= 177.2,  11.7

2025-08-08T21:28:41.692Z,1754688521.692 [DAT](INFO): DAT read: Rx Time:21:28:40.9455

2025-08-08T21:28:41.693Z,1754688521.693 [DAT](INFO): Rx dataTimestamp_ set to:1754688521.692398
2025-08-08T21:28:41.693Z,1754688521.693 [DAT](INFO): DAT read: $Low SNR acquisition

2025-08-08T21:28:41.694Z,1754688521.694 [DAT](INFO): Received low SNR in chirp
2025-08-08T21:28:41.709Z,1754688521.709 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-08-08T21:28:41.710Z,1754688521.710 [DAT](INFO): direction in FSK: [-0.978054,0.047835,-0.202787]
2025-08-08T21:28:48.747Z,1754688528.747 [DAT](INFO): Reached modem response timeout
2025-08-08T21:28:51.013Z,1754688531.013 [DAT](INFO): DAT read: Response Not Received

2025-08-08T21:28:51.013Z,1754688531.013 [DAT](INFO): response not received
2025-08-08T21:28:51.013Z,1754688531.013 [DAT](ERROR): No response from remote modem.
2025-08-08T21:29:02.804Z,1754688542.804 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2025-08-08T21:29:09.834Z,1754688549.834 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.249004
2025-08-08T21:29:36.940Z,1754688576.940 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2025-08-08T21:29:37.220Z,1754688577.220 [Radio_Surface](INFO): Powering down
2025-08-08T21:29:38.325Z,1754688578.325 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-08T21:29:38.402Z,1754688578.402 [DAT](DEBUG): Acoustic response timeout
2025-08-08T21:29:38.402Z,1754688578.402 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-08T21:29:38.653Z,1754688578.653 [DAT](INFO): DAT read: 

2025-08-08T21:29:38.654Z,1754688578.654 [DAT](INFO): DAT read: Tx time:21:29:38.4023

2025-08-08T21:29:38.654Z,1754688578.654 [DAT](INFO): Ping request sent.
2025-08-08T21:29:38.654Z,1754688578.654 [DAT](INFO): transmitted an acoustic signal
2025-08-08T21:29:38.654Z,1754688578.654 [DAT](INFO): publishing transmit ping time
2025-08-08T21:29:38.655Z,1754688578.655 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000761
2025-08-08T21:29:38.905Z,1754688578.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250892
2025-08-08T21:29:39.157Z,1754688579.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502847
2025-08-08T21:29:39.409Z,1754688579.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754977
2025-08-08T21:29:39.663Z,1754688579.663 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008310
2025-08-08T21:29:39.913Z,1754688579.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258857
2025-08-08T21:29:40.165Z,1754688580.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510773
2025-08-08T21:29:40.421Z,1754688580.421 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766536
2025-08-08T21:29:40.669Z,1754688580.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014790
2025-08-08T21:29:40.921Z,1754688580.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266776
2025-08-08T21:29:41.174Z,1754688581.174 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519330
2025-08-08T21:29:41.425Z,1754688581.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770780
2025-08-08T21:29:41.678Z,1754688581.678 [DAT](INFO): DAT read: Rx Time:21:29:40.9730

2025-08-08T21:29:41.679Z,1754688581.679 [DAT](INFO): Rx dataTimestamp_ set to:1754688581.678815
2025-08-08T21:29:41.681Z,1754688581.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026582
2025-08-08T21:29:41.929Z,1754688581.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274700
2025-08-08T21:29:42.183Z,1754688582.183 [DAT](INFO): DAT read: Range 11 to 50 : 124.9 m  (Round-trip  166.6 ms) speed -0.3 m/s

2025-08-08T21:29:42.184Z,1754688582.184 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-08-08T21:30:38.598Z,1754688638.598 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-08T21:30:38.648Z,1754688638.648 [DAT](DEBUG): Acoustic response timeout
2025-08-08T21:30:38.649Z,1754688638.649 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-08T21:30:38.897Z,1754688638.897 [DAT](INFO): DAT read: user:1158>

2025-08-08T21:30:38.898Z,1754688638.898 [DAT](INFO): DAT read: Tx time:21:30:38.6525

2025-08-08T21:30:38.898Z,1754688638.898 [DAT](INFO): Ping request sent.
2025-08-08T21:30:38.898Z,1754688638.898 [DAT](INFO): transmitted an acoustic signal
2025-08-08T21:30:38.898Z,1754688638.898 [DAT](INFO): publishing transmit ping time
2025-08-08T21:30:38.899Z,1754688638.899 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000754
2025-08-08T21:30:39.149Z,1754688639.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250752
2025-08-08T21:30:39.401Z,1754688639.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502968
2025-08-08T21:30:39.653Z,1754688639.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754876
2025-08-08T21:30:39.905Z,1754688639.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006853
2025-08-08T21:30:40.157Z,1754688640.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259022
2025-08-08T21:30:40.409Z,1754688640.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510837
2025-08-08T21:30:40.661Z,1754688640.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762981
2025-08-08T21:30:40.913Z,1754688640.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014872
2025-08-08T21:30:41.165Z,1754688641.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266832
2025-08-08T21:30:41.417Z,1754688641.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518846
2025-08-08T21:30:41.670Z,1754688641.670 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771871
2025-08-08T21:30:41.921Z,1754688641.921 [DAT](INFO): DAT read: Rx Time:21:30:41.2702

2025-08-08T21:30:41.921Z,1754688641.921 [DAT](INFO): Rx dataTimestamp_ set to:1754688641.920993
2025-08-08T21:30:41.922Z,1754688641.922 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023900
2025-08-08T21:30:42.184Z,1754688642.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.286331
2025-08-08T21:30:42.431Z,1754688642.431 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.533082
2025-08-08T21:30:42.686Z,1754688642.686 [DAT](INFO): DAT read: 21:30:41.2702 LVL= 26848, 23025, 32754, 32755, AGC= 69, IDX= 188, 0.20,-0.106,-0.130,-1.660, 0.047, PHS=-0.052,-0.132,-1.752, RAW=  32.4,  22.4, CAL=  29.6,  26.1, ROT= 120.4, -26.1

2025-08-08T21:30:42.687Z,1754688642.687 [DAT](INFO): got valid direction response:
 21:30:41.2702 LVL= 26848, 23025, 32754, 32755, AGC= 69, IDX= 188, 0.20,-0.106,-0.130,-1.660, 0.047, PHS=-0.052,-0.132,-1.752, RAW=  32.4,  22.4, CAL=  29.6,  26.1, ROT= 120.4, -26.1

2025-08-08T21:30:42.688Z,1754688642.688 [DAT](INFO): DAT read: Bearing 257.5,  25.0 (Local)

2025-08-08T21:30:42.689Z,1754688642.689 [DAT](INFO): Local bearing/azimuth received:
 Bearing 257.5,  25.0 (Local)

2025-08-08T21:30:42.690Z,1754688642.690 [DAT](INFO): DAT read: Range 11 to 50 : 160.1 m  (Round-trip  213.5 ms) speed -0.4 m/s

2025-08-08T21:30:42.690Z,1754688642.690 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-08T21:30:42.691Z,1754688642.691 [DAT](INFO): direction in FSK: [-0.454432,0.774561,0.439939]
2025-08-08T21:30:42.695Z,1754688642.695 [DAT](INFO): publishing direction and range info
2025-08-08T21:31:29.227Z,1754688689.227 [lineCaptureHoming:InitialDive:C.Pitch] Stopped
2025-08-08T21:31:29.227Z,1754688689.227 [lineCaptureHoming:InitialDive](INFO): Completed lineCaptureHoming:InitialDive
2025-08-08T21:31:29.228Z,1754688689.228 [lineCaptureHoming:InitialDive] Stopped
2025-08-08T21:31:29.228Z,1754688689.228 [lineCaptureHoming:InitialDive](DEBUG): Aggregate::uninitialize lineCaptureHoming:InitialDive
2025-08-08T21:31:29.228Z,1754688689.228 [lineCaptureHoming:InitialDive:A.SetSpeed] Stopped
2025-08-08T21:31:29.228Z,1754688689.228 [lineCaptureHoming:InitialDive:A.SetSpeed](DEBUG): Uninitialize.
2025-08-08T21:31:29.228Z,1754688689.228 [lineCaptureHoming:InitialDive:B.Mass] Stopped
2025-08-08T21:31:29.228Z,1754688689.228 [lineCaptureHoming:InitialDive:B.Mass](DEBUG): Uninitialize.
2025-08-08T21:31:29.228Z,1754688689.228 [lineCaptureHoming:RepeatHack] Running Loop=1
2025-08-08T21:31:29.229Z,1754688689.229 [lineCaptureHoming:RepeatHack](DEBUG): Aggregate::initialize lineCaptureHoming:RepeatHack
2025-08-08T21:31:29.229Z,1754688689.229 [lineCaptureHoming:RepeatHack:A] Running Loop=1
2025-08-08T21:31:29.594Z,1754688689.594 [lineCaptureHoming:RepeatHack] Stopped
2025-08-08T21:31:29.594Z,1754688689.594 [lineCaptureHoming:RepeatHack](DEBUG): Aggregate::uninitialize lineCaptureHoming:RepeatHack
2025-08-08T21:31:29.594Z,1754688689.594 [lineCaptureHoming:RepeatHack:A] Stopped
2025-08-08T21:31:29.595Z,1754688689.595 [lineCaptureHoming:Lap] Running Loop=1
2025-08-08T21:31:29.595Z,1754688689.595 [lineCaptureHoming:Lap](DEBUG): Aggregate::initialize lineCaptureHoming:Lap
2025-08-08T21:31:29.595Z,1754688689.595 [lineCaptureHoming:Lap:A] Running Loop=1
2025-08-08T21:31:30.065Z,1754688690.065 [lineCaptureHoming:Lap:A] Stopped
2025-08-08T21:31:30.066Z,1754688690.066 [lineCaptureHoming:Lap:B] Running Loop=1
2025-08-08T21:31:30.066Z,1754688690.066 [lineCaptureHoming:Lap:B](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:B
2025-08-08T21:31:30.410Z,1754688690.410 [lineCaptureHoming:LineCapture] Running Loop=1
2025-08-08T21:31:30.410Z,1754688690.410 [lineCaptureHoming:LineCapture](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture
2025-08-08T21:31:30.410Z,1754688690.410 [lineCaptureHoming:LineCapture:StandardEnvelopes] Running Loop=1
2025-08-08T21:31:30.411Z,1754688690.411 [lineCaptureHoming:LineCapture:StandardEnvelopes](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:StandardEnvelopes
2025-08-08T21:31:30.411Z,1754688690.411 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-08-08T21:31:30.411Z,1754688690.411 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-08-08T21:31:30.411Z,1754688690.411 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-08-08T21:31:30.411Z,1754688690.411 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-08-08T21:31:30.411Z,1754688690.411 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-08-08T21:31:30.411Z,1754688690.411 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-08-08T21:31:30.411Z,1754688690.411 [lineCaptureHoming:LineCapture:G] Running Loop=1
2025-08-08T21:31:30.411Z,1754688690.411 [lineCaptureHoming:LineCapture:H] Running Loop=1
2025-08-08T21:31:30.411Z,1754688690.411 [lineCaptureHoming:LineCapture:HoldMass] Running Loop=1
2025-08-08T21:31:30.412Z,1754688690.412 [lineCaptureHoming:LineCapture:HoldMass](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HoldMass
2025-08-08T21:31:30.414Z,1754688690.414 [lineCaptureHoming:LineCapture:HoldMass:A] Running Loop=1
2025-08-08T21:31:30.414Z,1754688690.414 [lineCaptureHoming:LineCapture:HoldMass:B.Mass] Running Loop=1
2025-08-08T21:31:30.414Z,1754688690.414 [lineCaptureHoming:LineCapture:HoldMass:B.Mass](DEBUG): Initialize.
2025-08-08T21:31:30.414Z,1754688690.414 [lineCaptureHoming:LineCapture:HoldBuoyancy] Running Loop=1
2025-08-08T21:31:30.414Z,1754688690.414 [lineCaptureHoming:LineCapture:HoldBuoyancy](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HoldBuoyancy
2025-08-08T21:31:30.414Z,1754688690.414 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Running Loop=1
2025-08-08T21:31:30.414Z,1754688690.414 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-08-08T21:31:30.414Z,1754688690.414 [lineCaptureHoming:LineCapture:A] Running Loop=1
2025-08-08T21:31:30.415Z,1754688690.415 [lineCaptureHoming:LineCapture:HoldBuoyancy] Running Loop=1
2025-08-08T21:31:30.415Z,1754688690.415 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Running Loop=1
2025-08-08T21:31:30.415Z,1754688690.415 [lineCaptureHoming:LineCapture:HoldMass] Running Loop=1
2025-08-08T21:31:30.415Z,1754688690.415 [lineCaptureHoming:LineCapture:HoldMass:B.Mass] Running Loop=1
2025-08-08T21:31:30.415Z,1754688690.415 [lineCaptureHoming:LineCapture:HoldMass:A] Running Loop=1
2025-08-08T21:31:30.416Z,1754688690.416 [lineCaptureHoming:LineCapture:H] Running Loop=1
2025-08-08T21:31:30.416Z,1754688690.416 [lineCaptureHoming:LineCapture:G] Running Loop=1
2025-08-08T21:31:30.416Z,1754688690.416 [lineCaptureHoming:LineCapture:StandardEnvelopes] Running Loop=1
2025-08-08T21:31:30.416Z,1754688690.416 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-08-08T21:31:30.417Z,1754688690.417 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-08-08T21:31:30.417Z,1754688690.417 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-08-08T21:31:30.418Z,1754688690.418 [lineCaptureHoming:LineCapture:A] Stopped
2025-08-08T21:31:30.418Z,1754688690.418 [lineCaptureHoming:LineCapture:B] Running Loop=1
2025-08-08T21:31:30.829Z,1754688690.829 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Running Loop=1
2025-08-08T21:31:30.829Z,1754688690.829 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-08-08T21:31:30.829Z,1754688690.829 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Running Loop=1
2025-08-08T21:31:30.831Z,1754688690.831 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A](INFO): Entering Terminal tracking update period  2.000000 s sec at 160.100006 m (mode  0.000000 count ).
2025-08-08T21:31:30.831Z,1754688690.831 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Stopped
2025-08-08T21:31:30.831Z,1754688690.831 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Running Loop=1
2025-08-08T21:31:30.835Z,1754688690.835 [lineCaptureHoming:LineCapture:B] Stopped
2025-08-08T21:31:30.836Z,1754688690.836 [lineCaptureHoming:LineCapture:D] Running Loop=1
2025-08-08T21:31:31.231Z,1754688691.231 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Stopped
2025-08-08T21:31:31.248Z,1754688691.248 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Running Loop=1
2025-08-08T21:31:31.248Z,1754688691.248 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-08T21:31:31.250Z,1754688691.250 [lineCaptureHoming:LineCapture:D] Stopped
2025-08-08T21:31:31.250Z,1754688691.250 [lineCaptureHoming:LineCapture:E] Running Loop=1
2025-08-08T21:31:31.373Z,1754688691.373 [DAT](DEBUG): Acoustic response timeout
2025-08-08T21:31:31.373Z,1754688691.373 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-08T21:31:31.625Z,1754688691.625 [DAT](INFO): DAT read: user:1159>

2025-08-08T21:31:31.626Z,1754688691.626 [DAT](INFO): DAT read: Tx time:21:31:31.3526

2025-08-08T21:31:31.626Z,1754688691.626 [DAT](INFO): Ping request sent.
2025-08-08T21:31:31.626Z,1754688691.626 [DAT](INFO): transmitted an acoustic signal
2025-08-08T21:31:31.626Z,1754688691.626 [DAT](INFO): publishing transmit ping time
2025-08-08T21:31:31.627Z,1754688691.627 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000748
2025-08-08T21:31:31.723Z,1754688691.723 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Stopped
2025-08-08T21:31:31.723Z,1754688691.723 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Running Loop=1
2025-08-08T21:31:31.725Z,1754688691.725 [lineCaptureHoming:LineCapture:E] Stopped
2025-08-08T21:31:31.725Z,1754688691.725 [lineCaptureHoming:LineCapture:F] Running Loop=1
2025-08-08T21:31:31.877Z,1754688691.877 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250830
2025-08-08T21:31:32.125Z,1754688692.125 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Stopped
2025-08-08T21:31:32.125Z,1754688692.125 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](INFO): Completed lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-08-08T21:31:32.125Z,1754688692.125 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Stopped
2025-08-08T21:31:32.125Z,1754688692.125 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Terminal
2025-08-08T21:31:32.127Z,1754688692.127 [lineCaptureHoming:LineCapture:F] Stopped
2025-08-08T21:31:32.127Z,1754688692.127 [lineCaptureHoming:LineCapture:HomingSequence] Running Loop=1
2025-08-08T21:31:32.128Z,1754688692.128 [lineCaptureHoming:LineCapture:HomingSequence](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence
2025-08-08T21:31:32.129Z,1754688692.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503233
2025-08-08T21:31:32.130Z,1754688692.130 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock] Running Loop=1
2025-08-08T21:31:32.130Z,1754688692.130 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock
2025-08-08T21:31:32.130Z,1754688692.130 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide] Running Loop=1
2025-08-08T21:31:32.130Z,1754688692.130 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide
2025-08-08T21:31:32.130Z,1754688692.130 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Running Loop=1
2025-08-08T21:31:32.130Z,1754688692.130 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initialize.
2025-08-08T21:31:32.130Z,1754688692.130 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initializing internal variables to default values.
2025-08-08T21:31:32.131Z,1754688692.131 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2025-08-08T21:31:32.131Z,1754688692.131 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance
2025-08-08T21:31:32.131Z,1754688692.131 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1
2025-08-08T21:31:32.131Z,1754688692.131 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide
2025-08-08T21:31:32.131Z,1754688692.131 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2025-08-08T21:31:32.131Z,1754688692.131 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize.
2025-08-08T21:31:32.131Z,1754688692.131 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2025-08-08T21:31:32.131Z,1754688692.131 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize.
2025-08-08T21:31:32.136Z,1754688692.136 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1
2025-08-08T21:31:32.136Z,1754688692.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2025-08-08T21:31:32.136Z,1754688692.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance
2025-08-08T21:31:32.136Z,1754688692.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1
2025-08-08T21:31:32.136Z,1754688692.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide
2025-08-08T21:31:32.136Z,1754688692.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Running Loop=1
2025-08-08T21:31:32.136Z,1754688692.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl
2025-08-08T21:31:32.137Z,1754688692.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Running Loop=1
2025-08-08T21:31:32.137Z,1754688692.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](INFO): Initialize.
2025-08-08T21:31:32.137Z,1754688692.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl] Running Loop=1
2025-08-08T21:31:32.137Z,1754688692.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl
2025-08-08T21:31:32.137Z,1754688692.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch] Running Loop=1
2025-08-08T21:31:32.137Z,1754688692.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch](DEBUG): Initialize.
2025-08-08T21:31:32.137Z,1754688692.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2025-08-08T21:31:32.137Z,1754688692.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Running Loop=1
2025-08-08T21:31:32.138Z,1754688692.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1
2025-08-08T21:31:32.381Z,1754688692.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754921
2025-08-08T21:31:32.464Z,1754688692.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Stopped
2025-08-08T21:31:32.464Z,1754688692.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance
2025-08-08T21:31:32.464Z,1754688692.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped
2025-08-08T21:31:32.464Z,1754688692.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide
2025-08-08T21:31:32.464Z,1754688692.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped
2025-08-08T21:31:32.464Z,1754688692.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Stopped
2025-08-08T21:31:32.464Z,1754688692.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl
2025-08-08T21:31:32.464Z,1754688692.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Stopped
2025-08-08T21:31:32.464Z,1754688692.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](DEBUG): Uninitialize.
2025-08-08T21:31:32.465Z,1754688692.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl] Stopped
2025-08-08T21:31:32.465Z,1754688692.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl
2025-08-08T21:31:32.465Z,1754688692.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch] Stopped
2025-08-08T21:31:32.465Z,1754688692.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped
2025-08-08T21:31:32.465Z,1754688692.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Stopped
2025-08-08T21:31:32.465Z,1754688692.465 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Stopped
2025-08-08T21:31:32.465Z,1754688692.465 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance
2025-08-08T21:31:32.465Z,1754688692.465 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped
2025-08-08T21:31:32.465Z,1754688692.465 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide
2025-08-08T21:31:32.465Z,1754688692.465 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped
2025-08-08T21:31:32.465Z,1754688692.465 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped
2025-08-08T21:31:32.465Z,1754688692.465 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize.
2025-08-08T21:31:32.465Z,1754688692.465 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped
2025-08-08T21:31:32.466Z,1754688692.466 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock] Running Loop=1
2025-08-08T21:31:32.466Z,1754688692.466 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initialize.
2025-08-08T21:31:32.466Z,1754688692.466 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initializing internal variables to default values.
2025-08-08T21:31:32.467Z,1754688692.467 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detached from dock at depth 50.500210 m.
2025-08-08T21:31:32.633Z,1754688692.633 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006834
2025-08-08T21:31:32.885Z,1754688692.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259198
2025-08-08T21:31:33.137Z,1754688693.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510895
2025-08-08T21:31:33.262Z,1754688693.262 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-08T21:31:33.333Z,1754688693.333 [DockingStepper](DEBUG): Initializing EZServoServo.
2025-08-08T21:31:33.389Z,1754688693.389 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762814
2025-08-08T21:31:33.457Z,1754688693.457 [DockingStepper](DEBUG): Initializing DockingStepper.
2025-08-08T21:31:33.641Z,1754688693.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015203
2025-08-08T21:31:33.893Z,1754688693.893 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266920
2025-08-08T21:31:34.145Z,1754688694.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518932
2025-08-08T21:31:34.397Z,1754688694.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771048
2025-08-08T21:31:34.649Z,1754688694.649 [DAT](INFO): DAT read: Rx Time:21:31:33.9666

2025-08-08T21:31:34.649Z,1754688694.649 [DAT](INFO): Rx dataTimestamp_ set to:1754688694.649034
2025-08-08T21:31:34.650Z,1754688694.650 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023937
2025-08-08T21:31:34.901Z,1754688694.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275471
2025-08-08T21:31:35.158Z,1754688695.158 [DAT](INFO): DAT read: 21:31:33.9666 LVL= 28464, 25473, 32754, 32755, AGC= 64, IDX= 385,-0.43, 0.909, 0.428,-1.136, 0.498, PHS= 0.514,-0.025,-1.678, RAW=  43.6,  12.0, CAL=  40.9,  13.2, ROT= 109.1, -13.2

2025-08-08T21:31:35.159Z,1754688695.159 [DAT](INFO): got valid direction response:
 21:31:33.9666 LVL= 28464, 25473, 32754, 32755, AGC= 64, IDX= 385,-0.43, 0.909, 0.428,-1.136, 0.498, PHS= 0.514,-0.025,-1.678, RAW=  43.6,  12.0, CAL=  40.9,  13.2, ROT= 109.1, -13.2

2025-08-08T21:31:35.164Z,1754688695.164 [DAT](INFO): DAT read: Bearing 282.9,  60.4 (Local)

2025-08-08T21:31:35.165Z,1754688695.165 [DAT](INFO): Local bearing/azimuth received:
 Bearing 282.9,  60.4 (Local)

2025-08-08T21:31:35.166Z,1754688695.166 [DAT](INFO): DAT read: Range 11 to 50 : 157.3 m  (Round-trip  209.8 ms) speed -0.3 m/s

2025-08-08T21:31:35.167Z,1754688695.167 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-08T21:31:35.184Z,1754688695.184 [DAT](INFO): direction in FSK: [-0.318572,0.919982,0.228351]
2025-08-08T21:31:35.184Z,1754688695.184 [DAT](INFO): publishing direction and range info
2025-08-08T21:31:35.187Z,1754688695.187 [DAT](INFO): ****** received valid address query ******
2025-08-08T21:31:35.187Z,1754688695.187 [DAT](INFO): ****** received valid ping request ******
2025-08-08T21:31:35.192Z,1754688695.192 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-08T21:31:35.405Z,1754688695.405 [DAT](INFO): DAT read: user:1160>

2025-08-08T21:31:35.406Z,1754688695.406 [DAT](INFO): DAT read: Tx time:21:31:35.2026

2025-08-08T21:31:35.406Z,1754688695.406 [DAT](INFO): Ping request sent.
2025-08-08T21:31:35.406Z,1754688695.406 [DAT](INFO): transmitted an acoustic signal
2025-08-08T21:31:35.406Z,1754688695.406 [DAT](INFO): publishing transmit ping time
2025-08-08T21:31:35.407Z,1754688695.407 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000768
2025-08-08T21:31:35.657Z,1754688695.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250612
2025-08-08T21:31:35.673Z,1754688695.673 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-08T21:31:35.909Z,1754688695.909 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502973
2025-08-08T21:31:36.161Z,1754688696.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754938
2025-08-08T21:31:36.414Z,1754688696.414 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007443
2025-08-08T21:31:36.665Z,1754688696.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259017
2025-08-08T21:31:36.918Z,1754688696.918 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511558
2025-08-08T21:31:36.950Z,1754688696.950 [DockingStepper](INFO): Changing to mode: 3
2025-08-08T21:31:37.169Z,1754688697.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762746
2025-08-08T21:31:37.422Z,1754688697.422 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015970
2025-08-08T21:31:37.673Z,1754688697.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266902
2025-08-08T21:31:37.713Z,1754688697.713 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-08T21:31:37.925Z,1754688697.925 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519308
2025-08-08T21:31:38.177Z,1754688698.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770888
2025-08-08T21:31:38.429Z,1754688698.429 [DAT](INFO): DAT read: Rx Time:21:31:37.8178

2025-08-08T21:31:38.430Z,1754688698.430 [DAT](INFO): Rx dataTimestamp_ set to:1754688698.429582
2025-08-08T21:31:38.431Z,1754688698.431 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024898
2025-08-08T21:31:38.681Z,1754688698.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274741
2025-08-08T21:31:38.934Z,1754688698.934 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527668
2025-08-08T21:31:39.190Z,1754688699.190 [DAT](INFO): DAT read: 21:31:37.8178 LVL= 19872, 19681, 26866, 25555, AGC= 64, IDX= 446, 0.00, 2.288, 1.707, 0.260, 1.834, PHS= 0.556,-0.082,-1.618, RAW=  46.6,  11.8, CAL=  43.7,  13.2, ROT= 106.3, -13.2

2025-08-08T21:31:39.191Z,1754688699.191 [DAT](INFO): got valid direction response:
 21:31:37.8178 LVL= 19872, 19681, 26866, 25555, AGC= 64, IDX= 446, 0.00, 2.288, 1.707, 0.260, 1.834, PHS= 0.556,-0.082,-1.618, RAW=  46.6,  11.8, CAL=  43.7,  13.2, ROT= 106.3, -13.2

2025-08-08T21:31:39.192Z,1754688699.192 [DAT](INFO): DAT read: Bearing 275.9,  66.4 (Local)

2025-08-08T21:31:39.193Z,1754688699.193 [DAT](INFO): Local bearing/azimuth received:
 Bearing 275.9,  66.4 (Local)

2025-08-08T21:31:39.194Z,1754688699.194 [DAT](INFO): DAT read: Range 11 to 50 : 158.3 m  (Round-trip  211.1 ms) speed -0.1 m/s

2025-08-08T21:31:39.195Z,1754688699.195 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-08T21:31:39.195Z,1754688699.195 [DAT](INFO): direction in FSK: [-0.273251,0.934446,0.228351]
2025-08-08T21:31:39.199Z,1754688699.199 [DAT](INFO): publishing direction and range info
2025-08-08T21:31:39.202Z,1754688699.202 [DAT](INFO): ****** received valid address query ******
2025-08-08T21:31:39.203Z,1754688699.203 [DAT](INFO): ****** received valid ping request ******
2025-08-08T21:31:39.203Z,1754688699.203 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-08T21:31:39.438Z,1754688699.438 [DAT](INFO): DAT read: user:1161>

2025-08-08T21:31:39.439Z,1754688699.439 [DAT](INFO): DAT read: Tx time:21:31:39.2026

2025-08-08T21:31:39.439Z,1754688699.439 [DAT](INFO): Ping request sent.
2025-08-08T21:31:39.439Z,1754688699.439 [DAT](INFO): transmitted an acoustic signal
2025-08-08T21:31:39.439Z,1754688699.439 [DAT](INFO): publishing transmit ping time
2025-08-08T21:31:39.440Z,1754688699.440 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000851
2025-08-08T21:31:39.689Z,1754688699.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249866
2025-08-08T21:31:39.941Z,1754688699.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501796
2025-08-08T21:31:40.193Z,1754688700.193 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753789
2025-08-08T21:31:40.218Z,1754688700.218 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-08T21:31:40.445Z,1754688700.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005737
2025-08-08T21:31:40.697Z,1754688700.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257780
2025-08-08T21:31:40.949Z,1754688700.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509698
2025-08-08T21:31:41.201Z,1754688701.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762011
2025-08-08T21:31:41.453Z,1754688701.453 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013791
2025-08-08T21:31:41.705Z,1754688701.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265836
2025-08-08T21:31:41.957Z,1754688701.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518001
2025-08-08T21:31:42.209Z,1754688702.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769946
2025-08-08T21:31:42.461Z,1754688702.461 [DAT](INFO): DAT read: Rx Time:21:31:41.8184

2025-08-08T21:31:42.461Z,1754688702.461 [DAT](INFO): Rx dataTimestamp_ set to:1754688702.461059
2025-08-08T21:31:42.462Z,1754688702.462 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022823
2025-08-08T21:31:42.575Z,1754688702.575 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-08T21:31:42.713Z,1754688702.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273650
2025-08-08T21:31:42.968Z,1754688702.968 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528516
2025-08-08T21:31:42.998Z,1754688702.998 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detected possible detachment. Starting timer.
2025-08-08T21:31:43.226Z,1754688703.226 [DAT](INFO): DAT read: 21:31:41.8184 LVL= 19472, 20545, 27842, 24099, AGC= 63, IDX= 436,-0.44,-2.528,-2.921, 1.748,-2.977, PHS= 0.551, 0.101,-1.602, RAW=  41.4,   9.7, CAL=  39.4,  10.3, ROT= 110.6, -10.3

2025-08-08T21:31:43.227Z,1754688703.227 [DAT](INFO): got valid direction response:
 21:31:41.8184 LVL= 19472, 20545, 27842, 24099, AGC= 63, IDX= 436,-0.44,-2.528,-2.921, 1.748,-2.977, PHS= 0.551, 0.101,-1.602, RAW=  41.4,   9.7, CAL=  39.4,  10.3, ROT= 110.6, -10.3

2025-08-08T21:31:43.228Z,1754688703.228 [DAT](INFO): DAT read: Bearing 283.7,  67.9 (Local)

2025-08-08T21:31:43.229Z,1754688703.229 [DAT](INFO): Local bearing/azimuth received:
 Bearing 283.7,  67.9 (Local)

2025-08-08T21:31:43.230Z,1754688703.230 [DAT](INFO): DAT read: Range 11 to 50 : 158.7 m  (Round-trip  211.7 ms) speed -0.2 m/s

2025-08-08T21:31:43.231Z,1754688703.231 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-08T21:31:43.242Z,1754688703.242 [DAT](INFO): direction in FSK: [-0.346172,0.920975,0.178802]
2025-08-08T21:31:43.242Z,1754688703.242 [DAT](INFO): publishing direction and range info
2025-08-08T21:31:43.254Z,1754688703.254 [DAT](INFO): ****** received valid address query ******
2025-08-08T21:31:43.254Z,1754688703.254 [DAT](INFO): ****** received valid ping request ******
2025-08-08T21:31:43.254Z,1754688703.254 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-08T21:31:43.470Z,1754688703.470 [DAT](INFO): DAT read: user:1162>

2025-08-08T21:31:43.471Z,1754688703.471 [DAT](INFO): DAT read: Tx time:21:31:43.2526

2025-08-08T21:31:43.471Z,1754688703.471 [DAT](INFO): Ping request sent.
2025-08-08T21:31:43.471Z,1754688703.471 [DAT](INFO): transmitted an acoustic signal
2025-08-08T21:31:43.472Z,1754688703.472 [DAT](INFO): publishing transmit ping time
2025-08-08T21:31:43.473Z,1754688703.473 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001243
2025-08-08T21:31:43.721Z,1754688703.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249552
2025-08-08T21:31:43.973Z,1754688703.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501435
2025-08-08T21:31:44.225Z,1754688704.225 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753557
2025-08-08T21:31:44.477Z,1754688704.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005491
2025-08-08T21:31:44.575Z,1754688704.575 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-08T21:31:44.729Z,1754688704.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257402
2025-08-08T21:31:44.981Z,1754688704.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509550
2025-08-08T21:31:45.235Z,1754688705.235 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763332
2025-08-08T21:31:45.486Z,1754688705.486 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014092
2025-08-08T21:31:45.738Z,1754688705.738 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266901
2025-08-08T21:31:45.989Z,1754688705.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517471
2025-08-08T21:31:46.243Z,1754688706.243 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771483
2025-08-08T21:31:46.493Z,1754688706.493 [DAT](INFO): DAT read: Rx Time:21:31:45.8693

2025-08-08T21:31:46.493Z,1754688706.493 [DAT](INFO): Rx dataTimestamp_ set to:1754688706.493037
2025-08-08T21:31:46.494Z,1754688706.494 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022501
2025-08-08T21:31:46.608Z,1754688706.608 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-08T21:31:46.745Z,1754688706.745 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273536
2025-08-08T21:31:46.997Z,1754688706.997 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525327
2025-08-08T21:31:47.267Z,1754688707.267 [DAT](INFO): DAT read: 21:31:45.8693 LVL= 21344, 18625, 26706, 26147, AGC= 65, IDX= 428, 0.12, 2.191, 1.704, 0.179, 1.693, PHS= 0.600, 0.056,-1.558, RAW=  44.0,   9.3, CAL=  42.0,   9.9, ROT= 108.0,  -9.9

2025-08-08T21:31:47.271Z,1754688707.271 [DAT](INFO): got valid direction response:
 21:31:45.8693 LVL= 21344, 18625, 26706, 26147, AGC= 65, IDX= 428, 0.12, 2.191, 1.704, 0.179, 1.693, PHS= 0.600, 0.056,-1.558, RAW=  44.0,   9.3, CAL=  42.0,   9.9, ROT= 108.0,  -9.9

2025-08-08T21:31:47.274Z,1754688707.274 [DAT](INFO): DAT read: Bearing 277.0,  73.0 (Local)

2025-08-08T21:31:47.275Z,1754688707.275 [DAT](INFO): Local bearing/azimuth received:
 Bearing 277.0,  73.0 (Local)

2025-08-08T21:31:47.279Z,1754688707.279 [DAT](INFO): DAT read: Range 11 to 50 : 159.3 m  (Round-trip  212.5 ms) speed -0.2 m/s

2025-08-08T21:31:47.281Z,1754688707.281 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-08T21:31:47.282Z,1754688707.282 [DAT](INFO): direction in FSK: [-0.304416,0.936895,0.171929]
2025-08-08T21:31:47.283Z,1754688707.283 [DAT](INFO): publishing direction and range info
2025-08-08T21:31:47.286Z,1754688707.286 [DAT](INFO): ****** received valid address query ******
2025-08-08T21:31:47.286Z,1754688707.286 [DAT](INFO): ****** received valid ping request ******
2025-08-08T21:31:47.286Z,1754688707.286 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-08T21:31:47.501Z,1754688707.501 [DAT](INFO): DAT read: user:1163>

2025-08-08T21:31:47.502Z,1754688707.502 [DAT](INFO): DAT read: Tx time:21:31:47.2527

2025-08-08T21:31:47.502Z,1754688707.502 [DAT](INFO): Ping request sent.
2025-08-08T21:31:47.502Z,1754688707.502 [DAT](INFO): transmitted an acoustic signal
2025-08-08T21:31:47.502Z,1754688707.502 [DAT](INFO): publishing transmit ping time
2025-08-08T21:31:47.503Z,1754688707.503 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000760
2025-08-08T21:31:47.753Z,1754688707.753 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250775
2025-08-08T21:31:48.005Z,1754688708.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503064
2025-08-08T21:31:48.259Z,1754688708.259 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757116
2025-08-08T21:31:48.509Z,1754688708.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006769
2025-08-08T21:31:48.613Z,1754688708.613 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-08T21:31:48.761Z,1754688708.761 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258814
2025-08-08T21:31:49.013Z,1754688709.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511278
2025-08-08T21:31:49.267Z,1754688709.267 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764495
2025-08-08T21:31:49.518Z,1754688709.518 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015553
2025-08-08T21:31:49.769Z,1754688709.769 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266906
2025-08-08T21:31:50.021Z,1754688710.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518760
2025-08-08T21:31:50.275Z,1754688710.275 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772951
2025-08-08T21:31:50.525Z,1754688710.525 [DAT](INFO): DAT read: Rx Time:21:31:49.8700

2025-08-08T21:31:50.525Z,1754688710.525 [DAT](INFO): Rx dataTimestamp_ set to:1754688710.525154
2025-08-08T21:31:50.526Z,1754688710.526 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023979
2025-08-08T21:31:50.629Z,1754688710.629 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-08T21:31:50.777Z,1754688710.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274750
2025-08-08T21:31:51.046Z,1754688711.046 [DAT](INFO): DAT read: 21:31:49.8700 LVL= 20720, 18753, 25058, 28051, AGC= 66, IDX= 435,-0.11, 0.879, 0.369,-1.148, 0.352, PHS= 0.629, 0.061,-1.544, RAW=  44.6,   8.8, CAL=  42.7,   9.2, ROT= 107.3,  -9.2

2025-08-08T21:31:51.057Z,1754688711.057 [DAT](INFO): got valid direction response:
 21:31:49.8700 LVL= 20720, 18753, 25058, 28051, AGC= 66, IDX= 435,-0.11, 0.879, 0.369,-1.148, 0.352, PHS= 0.629, 0.061,-1.544, RAW=  44.6,   8.8, CAL=  42.7,   9.2, ROT= 107.3,  -9.2

2025-08-08T21:31:51.058Z,1754688711.058 [DAT](INFO): DAT read: Bearing 273.4,  75.3 (Local)

2025-08-08T21:31:51.058Z,1754688711.058 [DAT](INFO): Local bearing/azimuth received:
 Bearing 273.4,  75.3 (Local)

2025-08-08T21:31:51.060Z,1754688711.060 [DAT](INFO): DAT read: Range 11 to 50 : 159.8 m  (Round-trip  213.1 ms) speed  0.1 m/s

2025-08-08T21:31:51.068Z,1754688711.068 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-08T21:31:51.069Z,1754688711.069 [DAT](INFO): direction in FSK: [-0.293550,0.942479,0.159881]
2025-08-08T21:31:51.070Z,1754688711.070 [DAT](INFO): publishing direction and range info
2025-08-08T21:31:51.081Z,1754688711.081 [DAT](INFO): ****** received valid address query ******
2025-08-08T21:31:51.081Z,1754688711.081 [DAT](INFO): ****** received valid ping request ******
2025-08-08T21:31:51.082Z,1754688711.082 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-08T21:31:51.283Z,1754688711.283 [DAT](INFO): DAT read: user:1164>

2025-08-08T21:31:51.285Z,1754688711.285 [DAT](INFO): DAT read: Tx time:21:31:51.0527

2025-08-08T21:31:51.286Z,1754688711.286 [DAT](INFO): Ping request sent.
2025-08-08T21:31:51.287Z,1754688711.287 [DAT](INFO): transmitted an acoustic signal
2025-08-08T21:31:51.287Z,1754688711.287 [DAT](INFO): publishing transmit ping time
2025-08-08T21:31:51.290Z,1754688711.290 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002876
2025-08-08T21:31:51.533Z,1754688711.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.247077
2025-08-08T21:31:51.789Z,1754688711.789 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502878
2025-08-08T21:31:52.041Z,1754688712.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754553
2025-08-08T21:31:52.296Z,1754688712.296 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.009186
2025-08-08T21:31:52.546Z,1754688712.546 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259557
2025-08-08T21:31:52.651Z,1754688712.651 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-08T21:31:52.797Z,1754688712.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510666
2025-08-08T21:31:53.049Z,1754688713.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762383
2025-08-08T21:31:53.301Z,1754688713.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014538
2025-08-08T21:31:53.554Z,1754688713.554 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267757
2025-08-08T21:31:53.805Z,1754688713.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518433
2025-08-08T21:31:54.057Z,1754688714.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770788
2025-08-08T21:31:54.312Z,1754688714.312 [DAT](INFO): DAT read: Rx Time:21:31:53.6703

2025-08-08T21:31:54.313Z,1754688714.313 [DAT](INFO): Rx dataTimestamp_ set to:1754688714.312621
2025-08-08T21:31:54.315Z,1754688714.315 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.028316
2025-08-08T21:31:54.561Z,1754688714.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274497
2025-08-08T21:31:54.673Z,1754688714.673 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-08T21:31:54.815Z,1754688714.815 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528249
2025-08-08T21:31:55.070Z,1754688715.070 [DAT](INFO): DAT read: 21:31:53.6703 LVL= 28848, 23105, 32754, 31043, AGC= 64, IDX= 438,-0.08, 1.014, 0.518,-0.971, 0.477, PHS= 0.640, 0.087,-1.492, RAW=  44.5,   8.0, CAL=  42.9,   8.2, ROT= 107.1,  -8.2

2025-08-08T21:31:55.071Z,1754688715.071 [DAT](INFO): got valid direction response:
 21:31:53.6703 LVL= 28848, 23105, 32754, 31043, AGC= 64, IDX= 438,-0.08, 1.014, 0.518,-0.971, 0.477, PHS= 0.640, 0.087,-1.492, RAW=  44.5,   8.0, CAL=  42.9,   8.2, ROT= 107.1,  -8.2

2025-08-08T21:31:55.072Z,1754688715.072 [DAT](INFO): DAT read: Bearing 273.4,  77.0 (Local)

2025-08-08T21:31:55.073Z,1754688715.073 [DAT](INFO): Local bearing/azimuth received:
 Bearing 273.4,  77.0 (Local)

2025-08-08T21:31:55.074Z,1754688715.074 [DAT](INFO): DAT read: Range 11 to 50 : 160.0 m  (Round-trip  213.4 ms) speed  0.0 m/s

2025-08-08T21:31:55.075Z,1754688715.075 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-08T21:31:55.076Z,1754688715.076 [DAT](INFO): direction in FSK: [-0.291034,0.946021,0.142629]
2025-08-08T21:31:55.076Z,1754688715.076 [DAT](INFO): publishing direction and range info
2025-08-08T21:31:55.079Z,1754688715.079 [DAT](INFO): ****** received valid address query ******
2025-08-08T21:31:55.079Z,1754688715.079 [DAT](INFO): ****** received valid ping request ******
2025-08-08T21:31:55.080Z,1754688715.080 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-08T21:31:55.317Z,1754688715.317 [DAT](INFO): DAT read: user:1165>

2025-08-08T21:31:55.317Z,1754688715.317 [DAT](INFO): DAT read: Tx time:21:31:55.0527

2025-08-08T21:31:55.318Z,1754688715.318 [DAT](INFO): Ping request sent.
2025-08-08T21:31:55.318Z,1754688715.318 [DAT](INFO): transmitted an acoustic signal
2025-08-08T21:31:55.318Z,1754688715.318 [DAT](INFO): publishing transmit ping time
2025-08-08T21:31:55.321Z,1754688715.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001500
2025-08-08T21:31:55.570Z,1754688715.570 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251861
2025-08-08T21:31:55.821Z,1754688715.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502979
2025-08-08T21:31:56.074Z,1754688716.074 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755762
2025-08-08T21:31:56.325Z,1754688716.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007321
2025-08-08T21:31:56.577Z,1754688716.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259029
2025-08-08T21:31:56.689Z,1754688716.689 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-08T21:31:56.829Z,1754688716.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511176
2025-08-08T21:31:57.082Z,1754688717.082 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764397
2025-08-08T21:31:57.333Z,1754688717.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014973
2025-08-08T21:31:57.585Z,1754688717.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267268
2025-08-08T21:31:57.838Z,1754688717.838 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519785
2025-08-08T21:31:58.089Z,1754688718.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770984
2025-08-08T21:31:58.341Z,1754688718.341 [DAT](INFO): DAT read: Rx Time:21:31:57.6706

2025-08-08T21:31:58.342Z,1754688718.342 [DAT](INFO): Rx dataTimestamp_ set to:1754688718.341431
2025-08-08T21:31:58.343Z,1754688718.343 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024679
2025-08-08T21:31:58.593Z,1754688718.593 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275197
2025-08-08T21:31:58.703Z,1754688718.703 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-08T21:31:58.857Z,1754688718.857 [DAT](INFO): DAT read: 21:31:57.6706 LVL= 30992, 26417, 32754, 32755, AGC= 64, IDX= 441,-0.04,-0.849,-1.379,-2.796,-1.401, PHS= 0.653, 0.067,-1.440, RAW=  45.8,   7.7, CAL=  44.2,   7.8, ROT= 105.8,  -7.8

2025-08-08T21:31:58.858Z,1754688718.858 [DAT](INFO): got valid direction response:
 21:31:57.6706 LVL= 30992, 26417, 32754, 32755, AGC= 64, IDX= 441,-0.04,-0.849,-1.379,-2.796,-1.401, PHS= 0.653, 0.067,-1.440, RAW=  45.8,   7.7, CAL=  44.2,   7.8, ROT= 105.8,  -7.8

2025-08-08T21:31:58.859Z,1754688718.859 [DAT](INFO): DAT read: Bearing 270.8,  78.0 (Local)

2025-08-08T21:31:58.879Z,1754688718.879 [DAT](INFO): Local bearing/azimuth received:
 Bearing 270.8,  78.0 (Local)

2025-08-08T21:31:58.881Z,1754688718.881 [DAT](INFO): DAT read: Range 11 to 50 : 160.2 m  (Round-trip  213.7 ms) speed  0.0 m/s

2025-08-08T21:31:58.882Z,1754688718.882 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-08T21:31:58.883Z,1754688718.883 [DAT](INFO): direction in FSK: [-0.269761,0.953315,0.135716]
2025-08-08T21:31:58.904Z,1754688718.904 [DAT](INFO): publishing direction and range info
2025-08-08T21:31:58.907Z,1754688718.907 [DAT](INFO): ****** received valid address query ******
2025-08-08T21:31:58.907Z,1754688718.907 [DAT](INFO): ****** received valid ping request ******
2025-08-08T21:31:58.908Z,1754688718.908 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-08T21:31:59.097Z,1754688719.097 [DAT](INFO): DAT read: user:1166>

2025-08-08T21:31:59.098Z,1754688719.098 [DAT](INFO): DAT read: Tx time:21:31:58.9027

2025-08-08T21:31:59.098Z,1754688719.098 [DAT](INFO): Ping request sent.
2025-08-08T21:31:59.098Z,1754688719.098 [DAT](INFO): transmitted an acoustic signal
2025-08-08T21:31:59.098Z,1754688719.098 [DAT](INFO): publishing transmit ping time
2025-08-08T21:31:59.099Z,1754688719.099 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000742
2025-08-08T21:31:59.352Z,1754688719.352 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.254094
2025-08-08T21:31:59.602Z,1754688719.602 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503867
2025-08-08T21:31:59.853Z,1754688719.853 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755277
2025-08-08T21:32:00.105Z,1754688720.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007245
2025-08-08T21:32:00.357Z,1754688720.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258860
2025-08-08T21:32:00.609Z,1754688720.609 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510849
2025-08-08T21:32:00.739Z,1754688720.739 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-08T21:32:00.862Z,1754688720.862 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763450
2025-08-08T21:32:01.117Z,1754688721.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.019232
2025-08-08T21:32:01.366Z,1754688721.366 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267899
2025-08-08T21:32:01.617Z,1754688721.617 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519175
2025-08-08T21:32:01.870Z,1754688721.870 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772109
2025-08-08T21:32:02.123Z,1754688722.123 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025000
2025-08-08T21:32:02.373Z,1754688722.373 [DAT](INFO): DAT read: Rx Time:21:32:01.5210

2025-08-08T21:32:02.374Z,1754688722.374 [DAT](INFO): Rx dataTimestamp_ set to:1754688722.373921
2025-08-08T21:32:02.375Z,1754688722.375 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277358
2025-08-08T21:32:02.625Z,1754688722.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526877
2025-08-08T21:32:02.810Z,1754688722.810 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-08T21:32:02.885Z,1754688722.885 [DAT](INFO): DAT read: 21:32:01.5210 LVL= 27632, 23393, 29874, 30003, AGC= 63, IDX= 446,-0.11,-2.950, 2.764, 1.300, 2.751, PHS= 0.684, 0.059,-1.495, RAW=  46.2,   7.8, CAL=  44.6,   7.8, ROT= 105.4,  -7.8

2025-08-08T21:32:02.887Z,1754688722.887 [DAT](INFO): got valid direction response:
 21:32:01.5210 LVL= 27632, 23393, 29874, 30003, AGC= 63, IDX= 446,-0.11,-2.950, 2.764, 1.300, 2.751, PHS= 0.684, 0.059,-1.495, RAW=  46.2,   7.8, CAL=  44.6,   7.8, ROT= 105.4,  -7.8

2025-08-08T21:32:02.889Z,1754688722.889 [DAT](INFO): DAT read: Bearing 273.7,  78.0 (Local)

2025-08-08T21:32:02.889Z,1754688722.889 [DAT](INFO): Local bearing/azimuth received:
 Bearing 273.7,  78.0 (Local)

2025-08-08T21:32:02.891Z,1754688722.891 [DAT](INFO): DAT read: Range 11 to 50 : 160.6 m  (Round-trip  214.2 ms) speed  0.0 m/s

2025-08-08T21:32:02.897Z,1754688722.897 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-08T21:32:02.898Z,1754688722.898 [DAT](INFO): direction in FSK: [-0.263099,0.955175,0.135716]
2025-08-08T21:32:02.898Z,1754688722.898 [DAT](INFO): publishing direction and range info
2025-08-08T21:32:02.909Z,1754688722.909 [DAT](INFO): ****** received valid address query ******
2025-08-08T21:32:02.909Z,1754688722.909 [DAT](INFO): ****** received valid ping request ******
2025-08-08T21:32:02.910Z,1754688722.910 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-08T21:32:03.129Z,1754688723.129 [DAT](INFO): DAT read: user:1167>

2025-08-08T21:32:03.130Z,1754688723.130 [DAT](INFO): DAT read: Tx time:21:32:02.9027

2025-08-08T21:32:03.130Z,1754688723.130 [DAT](INFO): Ping request sent.
2025-08-08T21:32:03.130Z,1754688723.130 [DAT](INFO): transmitted an acoustic signal
2025-08-08T21:32:03.130Z,1754688723.130 [DAT](INFO): publishing transmit ping time
2025-08-08T21:32:03.131Z,1754688723.131 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000739
2025-08-08T21:32:03.144Z,1754688723.144 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detached at range: 160.60 m. Transitioning docking module to standby.
2025-08-08T21:32:03.381Z,1754688723.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251078
2025-08-08T21:32:03.634Z,1754688723.634 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503543
2025-08-08T21:32:03.635Z,1754688723.635 [DockingStepper](INFO): Changing to mode: 1
2025-08-08T21:32:03.886Z,1754688723.886 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756201
2025-08-08T21:32:04.137Z,1754688724.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006801
2025-08-08T21:32:04.389Z,1754688724.389 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259267
2025-08-08T21:32:04.641Z,1754688724.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510767
2025-08-08T21:32:04.893Z,1754688724.893 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763051
2025-08-08T21:32:05.145Z,1754688725.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014950
2025-08-08T21:32:05.158Z,1754688725.158 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-08T21:32:05.397Z,1754688725.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266773
2025-08-08T21:32:05.649Z,1754688725.649 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518952
2025-08-08T21:32:05.901Z,1754688725.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770854
2025-08-08T21:32:06.153Z,1754688726.153 [DAT](INFO): DAT read: Rx Time:21:32:05.5211

2025-08-08T21:32:06.154Z,1754688726.154 [DAT](INFO): Rx dataTimestamp_ set to:1754688726.153017
2025-08-08T21:32:06.156Z,1754688726.156 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025655
2025-08-08T21:32:06.405Z,1754688726.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274878
2025-08-08T21:32:06.659Z,1754688726.659 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528873
2025-08-08T21:32:06.914Z,1754688726.914 [DAT](INFO): DAT read: 21:32:05.5211 LVL= 17952, 22257, 29634, 28147, AGC= 61, IDX= 447,-0.01,-3.040, 2.663, 1.224, 2.642, PHS= 0.703, 0.067,-1.462, RAW=  46.6,   7.2, CAL=  45.2,   7.1, ROT= 104.8,  -7.1

2025-08-08T21:32:06.915Z,1754688726.915 [DAT](INFO): got valid direction response:
 21:32:05.5211 LVL= 17952, 22257, 29634, 28147, AGC= 61, IDX= 447,-0.01,-3.040, 2.663, 1.224, 2.642, PHS= 0.703, 0.067,-1.462, RAW=  46.6,   7.2, CAL=  45.2,   7.1, ROT= 104.8,  -7.1

2025-08-08T21:32:06.916Z,1754688726.916 [DAT](INFO): DAT read: Bearing 279.0,  78.1 (Local)

2025-08-08T21:32:06.916Z,1754688726.916 [DAT](INFO): Local bearing/azimuth received:
 Bearing 279.0,  78.1 (Local)

2025-08-08T21:32:06.918Z,1754688726.918 [DAT](INFO): DAT read: Range 11 to 50 : 160.7 m  (Round-trip  214.3 ms) speed  0.0 m/s

2025-08-08T21:32:06.918Z,1754688726.918 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-08T21:32:06.919Z,1754688726.919 [DAT](INFO): direction in FSK: [-0.253487,0.959410,0.123601]
2025-08-08T21:32:06.926Z,1754688726.926 [DAT](INFO): publishing direction and range info
2025-08-08T21:32:06.938Z,1754688726.938 [DAT](INFO): ****** received valid address query ******
2025-08-08T21:32:06.938Z,1754688726.938 [DAT](INFO): ****** received valid ping request ******
2025-08-08T21:32:06.938Z,1754688726.938 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-08T21:32:07.161Z,1754688727.161 [DAT](INFO): DAT read: user:1168>

2025-08-08T21:32:07.161Z,1754688727.161 [DAT](INFO): DAT read: Tx time:21:32:06.9527

2025-08-08T21:32:07.162Z,1754688727.162 [DAT](INFO): Ping request sent.
2025-08-08T21:32:07.162Z,1754688727.162 [DAT](INFO): transmitted an acoustic signal
2025-08-08T21:32:07.162Z,1754688727.162 [DAT](INFO): publishing transmit ping time
2025-08-08T21:32:07.163Z,1754688727.163 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000754
2025-08-08T21:32:07.413Z,1754688727.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251121
2025-08-08T21:32:07.627Z,1754688727.627 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-08T21:32:07.665Z,1754688727.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502957
2025-08-08T21:32:07.917Z,1754688727.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755416
2025-08-08T21:32:08.169Z,1754688728.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007114
2025-08-08T21:32:08.421Z,1754688728.421 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259118
2025-08-08T21:32:08.673Z,1754688728.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511090
2025-08-08T21:32:08.925Z,1754688728.925 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763693
2025-08-08T21:32:09.177Z,1754688729.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015154
2025-08-08T21:32:09.429Z,1754688729.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266954
2025-08-08T21:32:09.668Z,1754688729.668 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-08T21:32:09.670Z,1754688729.670 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Docking module at standby.
2025-08-08T21:32:09.681Z,1754688729.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519187
2025-08-08T21:32:09.933Z,1754688729.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771030
2025-08-08T21:32:09.995Z,1754688729.995 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](IMPORTANT): Undocking sequence complete.
2025-08-08T21:32:09.995Z,1754688729.995 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Stopped
2025-08-08T21:32:09.995Z,1754688729.995 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:B] Running Loop=1
2025-08-08T21:32:10.185Z,1754688730.185 [DAT](INFO): DAT read: Rx Time:21:32:09.5714

2025-08-08T21:32:10.185Z,1754688730.185 [DAT](INFO): Rx dataTimestamp_ set to:1754688730.184993
2025-08-08T21:32:10.186Z,1754688730.186 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024088
2025-08-08T21:32:10.407Z,1754688730.407 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:B](INFO): Transitioning to midcourse guidance.
2025-08-08T21:32:10.407Z,1754688730.407 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:B] Stopped
2025-08-08T21:32:10.407Z,1754688730.407 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:C] Running Loop=1
2025-08-08T21:32:10.437Z,1754688730.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275125
2025-08-08T21:32:10.689Z,1754688730.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527176
2025-08-08T21:32:10.824Z,1754688730.824 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:C] Stopped
2025-08-08T21:32:10.824Z,1754688730.824 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide
2025-08-08T21:32:10.824Z,1754688730.824 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide] Stopped
2025-08-08T21:32:10.824Z,1754688730.824 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide
2025-08-08T21:32:10.825Z,1754688730.825 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock
2025-08-08T21:32:10.946Z,1754688730.946 [DAT](INFO): DAT read: 21:32:09.5714 LVL= 20448, 21713, 30770, 25651, AGC= 61, IDX= 449, 0.33,-1.583,-2.122, 2.659,-2.179, PHS= 0.698, 0.103,-1.489, RAW=  45.3,   7.1, CAL=  44.0,   6.9, ROT= 106.0,  -6.9

2025-08-08T21:32:10.947Z,1754688730.947 [DAT](INFO): got valid direction response:
 21:32:09.5714 LVL= 20448, 21713, 30770, 25651, AGC= 61, IDX= 449, 0.33,-1.583,-2.122, 2.659,-2.179, PHS= 0.698, 0.103,-1.489, RAW=  45.3,   7.1, CAL=  44.0,   6.9, ROT= 106.0,  -6.9

2025-08-08T21:32:10.951Z,1754688730.951 [DAT](INFO): DAT read: Bearing 287.4,  76.4 (Local)

2025-08-08T21:32:10.951Z,1754688730.951 [DAT](INFO): Local bearing/azimuth received:
 Bearing 287.4,  76.4 (Local)

2025-08-08T21:32:10.953Z,1754688730.953 [DAT](INFO): DAT read: Range 11 to 50 : 160.9 m  (Round-trip  214.6 ms) speed  0.0 m/s

2025-08-08T21:32:10.954Z,1754688730.954 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-08T21:32:10.955Z,1754688730.955 [DAT](INFO): direction in FSK: [-0.273641,0.954300,0.120137]
2025-08-08T21:32:10.955Z,1754688730.955 [DAT](INFO): publishing direction and range info
2025-08-08T21:32:10.983Z,1754688730.983 [DAT](INFO): ****** received valid address query ******
2025-08-08T21:32:10.983Z,1754688730.983 [DAT](INFO): ****** received valid ping request ******
2025-08-08T21:32:10.983Z,1754688730.983 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-08T21:32:11.193Z,1754688731.193 [DAT](INFO): DAT read: user:1169>

2025-08-08T21:32:11.193Z,1754688731.193 [DAT](INFO): DAT read: Tx time:21:32:11.0027

2025-08-08T21:32:11.194Z,1754688731.194 [DAT](INFO): Ping request sent.
2025-08-08T21:32:11.194Z,1754688731.194 [DAT](INFO): transmitted an acoustic signal
2025-08-08T21:32:11.194Z,1754688731.194 [DAT](INFO): publishing transmit ping time
2025-08-08T21:32:11.195Z,1754688731.195 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000741
2025-08-08T21:32:11.268Z,1754688731.268 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2025-08-08T21:32:11.268Z,1754688731.268 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance
2025-08-08T21:32:11.268Z,1754688731.268 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1
2025-08-08T21:32:11.268Z,1754688731.268 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide
2025-08-08T21:32:11.268Z,1754688731.268 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2025-08-08T21:32:11.268Z,1754688731.268 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize.
2025-08-08T21:32:11.269Z,1754688731.269 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2025-08-08T21:32:11.269Z,1754688731.269 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize.
2025-08-08T21:32:11.269Z,1754688731.269 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1
2025-08-08T21:32:11.269Z,1754688731.269 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2025-08-08T21:32:11.269Z,1754688731.269 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2025-08-08T21:32:11.270Z,1754688731.270 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2025-08-08T21:32:11.270Z,1754688731.270 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Running Loop=1
2025-08-08T21:32:11.270Z,1754688731.270 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2025-08-08T21:32:11.270Z,1754688731.270 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Running Loop=1
2025-08-08T21:32:11.271Z,1754688731.271 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A](INFO): Transitioning to terminal guidance at range 160.699997 m 
2025-08-08T21:32:11.271Z,1754688731.271 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Stopped
2025-08-08T21:32:11.271Z,1754688731.271 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Running Loop=1
2025-08-08T21:32:11.276Z,1754688731.276 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A](INFO): Navigating to dock waypoint ( 36.905698 arcdeg , -122.116120 arcdeg )
2025-08-08T21:32:11.276Z,1754688731.276 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped
2025-08-08T21:32:11.276Z,1754688731.276 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Running Loop=1
2025-08-08T21:32:11.276Z,1754688731.276 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Initialize WaypointComponent.
2025-08-08T21:32:11.277Z,1754688731.277 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](IMPORTANT): Navigating to waypoint: 36.905698,-122.116120
2025-08-08T21:32:11.445Z,1754688731.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250955
2025-08-08T21:32:11.680Z,1754688731.680 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-08T21:32:11.682Z,1754688731.682 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](INFO): Navigating to waypoint: 36.905698,-122.116120
2025-08-08T21:32:11.683Z,1754688731.683 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Stopped
2025-08-08T21:32:11.683Z,1754688731.683 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2025-08-08T21:32:11.683Z,1754688731.683 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Stopped
2025-08-08T21:32:11.704Z,1754688731.704 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503420
2025-08-08T21:32:11.704Z,1754688731.704 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2025-08-08T21:32:11.739Z,1754688731.739 [HorizontalControl](DEBUG): kpHeading = 0.400000
2025-08-08T21:32:11.739Z,1754688731.739 [HorizontalControl](DEBUG): kiHeading = 0.001000
2025-08-08T21:32:11.949Z,1754688731.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755049
2025-08-08T21:32:12.041Z,1754688732.041 [lineCaptureHoming:UpdateNumPings_Terminal] Running Loop=1
2025-08-08T21:32:12.041Z,1754688732.041 [lineCaptureHoming:UpdateNumPings_Terminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal
2025-08-08T21:32:12.042Z,1754688732.042 [lineCaptureHoming:UpdateNumPings_Terminal] Running Loop=1
2025-08-08T21:32:12.043Z,1754688732.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2025-08-08T21:32:12.043Z,1754688732.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance
2025-08-08T21:32:12.043Z,1754688732.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1
2025-08-08T21:32:12.043Z,1754688732.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide
2025-08-08T21:32:12.044Z,1754688732.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Running Loop=1
2025-08-08T21:32:12.044Z,1754688732.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl
2025-08-08T21:32:12.044Z,1754688732.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Running Loop=1
2025-08-08T21:32:12.044Z,1754688732.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](INFO): Initialize.
2025-08-08T21:32:12.044Z,1754688732.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl] Running Loop=1
2025-08-08T21:32:12.044Z,1754688732.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl
2025-08-08T21:32:12.044Z,1754688732.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch] Running Loop=1
2025-08-08T21:32:12.045Z,1754688732.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch](DEBUG): Initialize.
2025-08-08T21:32:12.045Z,1754688732.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2025-08-08T21:32:12.045Z,1754688732.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Running Loop=1
2025-08-08T21:32:12.045Z,1754688732.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1
2025-08-08T21:32:12.045Z,1754688732.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2025-08-08T21:32:12.045Z,1754688732.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Running Loop=1
2025-08-08T21:32:12.046Z,1754688732.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2025-08-08T21:32:12.046Z,1754688732.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl] Stopped
2025-08-08T21:32:12.046Z,1754688732.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl
2025-08-08T21:32:12.046Z,1754688732.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch] Stopped
2025-08-08T21:32:12.046Z,1754688732.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Running Loop=1
2025-08-08T21:32:12.046Z,1754688732.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Running Loop=1
2025-08-08T21:32:12.047Z,1754688732.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A](INFO): Terminal guidance.
2025-08-08T21:32:12.047Z,1754688732.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped
2025-08-08T21:32:12.047Z,1754688732.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture] Running Loop=1
2025-08-08T21:32:12.047Z,1754688732.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](DEBUG): Initialize.
2025-08-08T21:32:12.047Z,1754688732.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](DEBUG): Initializing internal variables to default values.
2025-08-08T21:32:12.048Z,1754688732.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2025-08-08T21:32:12.068Z,1754688732.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Rollout timeout set to 300.00 sec.
2025-08-08T21:32:12.069Z,1754688732.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](IMPORTANT): IIR filter is initialized with decay: 0.00.
2025-08-08T21:32:12.069Z,1754688732.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2025-08-08T21:32:12.070Z,1754688732.070 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Stopped
2025-08-08T21:32:12.070Z,1754688732.070 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance
2025-08-08T21:32:12.070Z,1754688732.070 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped
2025-08-08T21:32:12.070Z,1754688732.070 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide
2025-08-08T21:32:12.070Z,1754688732.070 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped
2025-08-08T21:32:12.070Z,1754688732.070 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize.
2025-08-08T21:32:12.070Z,1754688732.070 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped
2025-08-08T21:32:12.070Z,1754688732.070 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Stopped
2025-08-08T21:32:12.070Z,1754688732.070 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Uninitialize WaypointComponent.
2025-08-08T21:32:12.201Z,1754688732.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006962
2025-08-08T21:32:12.444Z,1754688732.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 160.899994 m,
      deltaT: nan s,
      deltaX: nan m,
      approachRate: -1.000000 m/s,
      rangeRepo size: 1

2025-08-08T21:32:12.447Z,1754688732.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 160.899994 m,
      bearing: 88.003331 deg,
      lat: 36.906190 deg,
      lon: -122.115833 deg,
      deltaT: nan s,
      deltaX: nan m,
      approachRate: -1.000000 m/s,
      posRepo size: 1

2025-08-08T21:32:12.448Z,1754688732.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.90 m.
2025-08-08T21:32:12.450Z,1754688732.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 160.899994 m,
      nav range: 158.830780 m,
      bearing: 88.080879 deg,
      approach rate: nan m/s,
      LOS rate: nan deg/s,
      cmd heading: 343.886965 deg,
      new cmd heading: 88.080879 deg.

2025-08-08T21:32:12.453Z,1754688732.453 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259096
2025-08-08T21:32:12.464Z,1754688732.464 [HorizontalControl](DEBUG): kpHeading = 0.800000
2025-08-08T21:32:12.465Z,1754688732.465 [HorizontalControl](DEBUG): kiHeading = 0.004000
2025-08-08T21:32:12.705Z,1754688732.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511178
2025-08-08T21:32:12.897Z,1754688732.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.90 m.
2025-08-08T21:32:12.899Z,1754688732.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 160.899994 m,
      nav range: 158.831345 m,
      bearing: 88.104743 deg,
      approach rate: 0.001245 m/s,
      LOS rate: nan deg/s,
      cmd heading: 88.080876 deg,
      new cmd heading: 88.104743 deg.

2025-08-08T21:32:12.957Z,1754688732.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763245
2025-08-08T21:32:13.209Z,1754688733.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015037
2025-08-08T21:32:13.256Z,1754688733.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.90 m.
2025-08-08T21:32:13.258Z,1754688733.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 160.899994 m,
      nav range: 158.831757 m,
      bearing: 88.125664 deg,
      approach rate: 0.001215 m/s,
      LOS rate: nan deg/s,
      cmd heading: 88.104741 deg,
      new cmd heading: 88.125664 deg.

2025-08-08T21:32:13.461Z,1754688733.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266979
2025-08-08T21:32:13.485Z,1754688733.485 [DockingStepper](DEBUG): Initializing EZServoServo.
2025-08-08T21:32:13.607Z,1754688733.607 [DockingStepper](DEBUG): Initializing DockingStepper.
2025-08-08T21:32:13.713Z,1754688733.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518990
2025-08-08T21:32:13.751Z,1754688733.751 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-08T21:32:13.754Z,1754688733.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.90 m.
2025-08-08T21:32:13.756Z,1754688733.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 160.899994 m,
      nav range: 158.831711 m,
      bearing: 88.152500 deg,
      approach rate: -0.000088 m/s,
      LOS rate: nan deg/s,
      cmd heading: 88.125662 deg,
      new cmd heading: 88.152500 deg.

2025-08-08T21:32:13.965Z,1754688733.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771346
2025-08-08T21:32:14.226Z,1754688734.226 [DAT](INFO): DAT read: Rx Time:21:32:13.6217

2025-08-08T21:32:14.227Z,1754688734.227 [DAT](INFO): Rx dataTimestamp_ set to:1754688734.226438
2025-08-08T21:32:14.227Z,1754688734.227 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.033432
2025-08-08T21:32:14.252Z,1754688734.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.90 m.
2025-08-08T21:32:14.254Z,1754688734.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 160.899994 m,
      nav range: 158.831589 m,
      bearing: 88.176918 deg,
      approach rate: -0.000245 m/s,
      LOS rate: nan deg/s,
      cmd heading: 88.152498 deg,
      new cmd heading: 88.176918 deg.

2025-08-08T21:32:14.477Z,1754688734.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.282942
2025-08-08T21:32:14.575Z,1754688734.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.90 m.
2025-08-08T21:32:14.595Z,1754688734.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav pure pursuit: 
      ac range: 160.899994 m,
      nav range: 158.831451 m,
      bearing: 88.194916 deg,
      approach rate: -0.000424 m/s,
      LOS rate: nan deg/s,
      cmd heading: 88.176916 deg,
      new cmd heading: 88.194916 deg.

2025-08-08T21:32:14.730Z,1754688734.730 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.535465
2025-08-08T21:32:14.986Z,1754688734.986 [DAT](INFO): DAT read: 21:32:13.6217 LVL= 19568, 21233, 30578, 28499, AGC= 62, IDX= 437, 0.15,-1.763,-2.297, 2.538,-2.341, PHS= 0.680, 0.089,-1.448, RAW=  45.6,   7.2, CAL=  44.3,   7.0, ROT= 105.7,  -7.0

2025-08-08T21:32:14.987Z,1754688734.987 [DAT](INFO): got valid direction response:
 21:32:13.6217 LVL= 19568, 21233, 30578, 28499, AGC= 62, IDX= 437, 0.15,-1.763,-2.297, 2.538,-2.341, PHS= 0.680, 0.089,-1.448, RAW=  45.6,   7.2, CAL=  44.3,   7.0, ROT= 105.7,  -7.0

2025-08-08T21:32:14.988Z,1754688734.988 [DAT](INFO): DAT read: Bearing 290.7,  75.8 (Local)

2025-08-08T21:32:14.989Z,1754688734.989 [DAT](INFO): Local bearing/azimuth received:
 Bearing 290.7,  75.8 (Local)

2025-08-08T21:32:14.990Z,1754688734.990 [DAT](INFO): DAT read: Range 11 to 50 : 161.1 m  (Round-trip  214.9 ms) speed  0.0 m/s

2025-08-08T21:32:14.991Z,1754688734.991 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-08T21:32:14.992Z,1754688734.992 [DAT](INFO): direction in FSK: [-0.268583,0.955516,0.121869]
2025-08-08T21:32:14.992Z,1754688734.992 [DAT](INFO): publishing direction and range info
2025-08-08T21:32:14.995Z,1754688734.995 [DAT](INFO): ****** received valid address query ******
2025-08-08T21:32:14.995Z,1754688734.995 [DAT](INFO): ****** received valid ping request ******
2025-08-08T21:32:14.995Z,1754688734.995 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-08T21:32:15.090Z,1754688735.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 161.100006 m,
      deltaT: 4.040090 s,
      deltaX: 0.200012 m,
      approachRate: 0.049507 m/s,
      rangeRepo size: 2

2025-08-08T21:32:15.097Z,1754688735.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 161.100006 m,
      bearing: 88.224206 deg,
      lat: 36.906190 deg,
      lon: -122.115827 deg,
      deltaT: 4.040090 s,
      deltaX: 0.200012 m,
      approachRate: 0.049507 m/s,
      posRepo size: 2

2025-08-08T21:32:15.098Z,1754688735.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.10 m.
2025-08-08T21:32:15.099Z,1754688735.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target acoustic bearing of 88.224206 deg.
2025-08-08T21:32:15.233Z,1754688735.233 [DAT](INFO): DAT read: user:1170>

2025-08-08T21:32:15.234Z,1754688735.234 [DAT](INFO): DAT read: Tx time:21:32:15.0027

2025-08-08T21:32:15.234Z,1754688735.234 [DAT](INFO): Ping request sent.
2025-08-08T21:32:15.234Z,1754688735.234 [DAT](INFO): transmitted an acoustic signal
2025-08-08T21:32:15.234Z,1754688735.234 [DAT](INFO): publishing transmit ping time
2025-08-08T21:32:15.235Z,1754688735.235 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000765
2025-08-08T21:32:15.424Z,1754688735.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.10 m.
2025-08-08T21:32:15.427Z,1754688735.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.100006 m,
      nav range: 159.381683 m,
      bearing: 88.239912 deg,
      approach rate: 0.004475 m/s,
      LOS rate: 0.047491 deg/s,
      cmd heading: 88.224208 deg,
      new cmd heading: 88.271327 deg.

2025-08-08T21:32:15.485Z,1754688735.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250862
2025-08-08T21:32:15.737Z,1754688735.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502804
2025-08-08T21:32:15.808Z,1754688735.808 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-08T21:32:15.810Z,1754688735.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.10 m.
2025-08-08T21:32:15.813Z,1754688735.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.100006 m,
      nav range: 159.388153 m,
      bearing: 88.259702 deg,
      approach rate: 0.016588 m/s,
      LOS rate: 0.050739 deg/s,
      cmd heading: 88.271329 deg,
      new cmd heading: 88.330697 deg.

2025-08-08T21:32:15.990Z,1754688735.990 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755552
2025-08-08T21:32:16.192Z,1754688736.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.10 m.
2025-08-08T21:32:16.195Z,1754688736.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.100006 m,
      nav range: 159.393829 m,
      bearing: 88.277237 deg,
      approach rate: 0.015007 m/s,
      LOS rate: 0.046357 deg/s,
      cmd heading: 88.330697 deg,
      new cmd heading: 88.383299 deg.

2025-08-08T21:32:16.242Z,1754688736.242 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008006
2025-08-08T21:32:16.493Z,1754688736.493 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258845
2025-08-08T21:32:16.587Z,1754688736.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.10 m.
2025-08-08T21:32:16.589Z,1754688736.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.100006 m,
      nav range: 159.400284 m,
      bearing: 88.297256 deg,
      approach rate: 0.016196 m/s,
      LOS rate: 0.050230 deg/s,
      cmd heading: 88.383297 deg,
      new cmd heading: 88.443351 deg.

2025-08-08T21:32:16.750Z,1754688736.750 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.516285
2025-08-08T21:32:17.001Z,1754688737.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766898
2025-08-08T21:32:17.020Z,1754688737.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.10 m.
2025-08-08T21:32:17.023Z,1754688737.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.100006 m,
      nav range: 159.412643 m,
      bearing: 88.320692 deg,
      approach rate: 0.028535 m/s,
      LOS rate: 0.054104 deg/s,
      cmd heading: 88.443348 deg,
      new cmd heading: 88.513650 deg.

2025-08-08T21:32:17.065Z,1754688737.065 [DockingStepper](INFO): Changing to mode: 1
2025-08-08T21:32:17.253Z,1754688737.253 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018854
2025-08-08T21:32:17.397Z,1754688737.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.10 m.
2025-08-08T21:32:17.400Z,1754688737.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.100006 m,
      nav range: 159.423233 m,
      bearing: 88.341109 deg,
      approach rate: 0.028073 m/s,
      LOS rate: 0.054122 deg/s,
      cmd heading: 88.513651 deg,
      new cmd heading: 88.574898 deg.

2025-08-08T21:32:17.506Z,1754688737.506 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.272172
2025-08-08T21:32:17.757Z,1754688737.757 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522702
2025-08-08T21:32:17.810Z,1754688737.810 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD,           ,+0.91,  0.00
2025-08-08T21:32:17.823Z,1754688737.823 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-08T21:32:17.826Z,1754688737.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.10 m.
2025-08-08T21:32:17.830Z,1754688737.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.100006 m,
      nav range: 159.435013 m,
      bearing: 88.364311 deg,
      approach rate: 0.027475 m/s,
      LOS rate: 0.054112 deg/s,
      cmd heading: 88.574897 deg,
      new cmd heading: 88.644498 deg.

2025-08-08T21:32:18.009Z,1754688738.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774865
2025-08-08T21:32:18.203Z,1754688738.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.10 m.
2025-08-08T21:32:18.234Z,1754688738.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.100006 m,
      nav range: 159.445084 m,
      bearing: 88.384786 deg,
      approach rate: 0.026709 m/s,
      LOS rate: 0.054298 deg/s,
      cmd heading: 88.644497 deg,
      new cmd heading: 88.705917 deg.

2025-08-08T21:32:18.262Z,1754688738.262 [DAT](INFO): DAT read: Rx Time:21:32:17.6217

2025-08-08T21:32:18.262Z,1754688738.262 [DAT](INFO): Rx dataTimestamp_ set to:1754688738.261749
2025-08-08T21:32:18.263Z,1754688738.263 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.028909
2025-08-08T21:32:18.513Z,1754688738.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278867
2025-08-08T21:32:18.608Z,1754688738.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.10 m.
2025-08-08T21:32:18.611Z,1754688738.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.100006 m,
      nav range: 159.455566 m,
      bearing: 88.406783 deg,
      approach rate: 0.025852 m/s,
      LOS rate: 0.054245 deg/s,
      cmd heading: 88.705914 deg,
      new cmd heading: 88.771901 deg.

2025-08-08T21:32:18.768Z,1754688738.768 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.533327
2025-08-08T21:32:19.022Z,1754688739.022 [DAT](INFO): DAT read: 21:32:17.6217 LVL= 30672, 26593, 32754, 32755, AGC= 63, IDX= 437, 0.15,-2.025,-2.617, 2.243,-2.634, PHS= 0.711, 0.062,-1.450, RAW=  47.0,   7.1, CAL=  45.7,   6.9, ROT= 104.3,  -6.9

2025-08-08T21:32:19.023Z,1754688739.023 [DAT](INFO): got valid direction response:
 21:32:17.6217 LVL= 30672, 26593, 32754, 32755, AGC= 63, IDX= 437, 0.15,-2.025,-2.617, 2.243,-2.634, PHS= 0.711, 0.062,-1.450, RAW=  47.0,   7.1, CAL=  45.7,   6.9, ROT= 104.3,  -6.9

2025-08-08T21:32:19.024Z,1754688739.024 [DAT](INFO): DAT read: Bearing 288.5,  75.4 (Local)

2025-08-08T21:32:19.025Z,1754688739.025 [DAT](INFO): Local bearing/azimuth received:
 Bearing 288.5,  75.4 (Local)

2025-08-08T21:32:19.026Z,1754688739.026 [DAT](INFO): DAT read: Range 11 to 50 : 161.1 m  (Round-trip  214.9 ms) speed  0.0 m/s

2025-08-08T21:32:19.027Z,1754688739.027 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-08T21:32:19.028Z,1754688739.028 [DAT](INFO): direction in FSK: [-0.245210,0.961997,0.120137]
2025-08-08T21:32:19.028Z,1754688739.028 [DAT](INFO): publishing direction and range info
2025-08-08T21:32:19.031Z,1754688739.031 [DAT](INFO): ****** received valid address query ******
2025-08-08T21:32:19.031Z,1754688739.031 [DAT](INFO): ****** received valid ping request ******
2025-08-08T21:32:19.031Z,1754688739.031 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-08T21:32:19.131Z,1754688739.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 161.100006 m,
      deltaT: 4.035984 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 3

2025-08-08T21:32:19.138Z,1754688739.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 161.100006 m,
      bearing: 89.658570 deg,
      lat: 36.906160 deg,
      lon: -122.115824 deg,
      deltaT: 4.035984 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 3

2025-08-08T21:32:19.138Z,1754688739.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.10 m.
2025-08-08T21:32:19.145Z,1754688739.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.100006 m,
      nav range: 159.719681 m,
      bearing: 89.658570 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.054245 deg/s,
      cmd heading: 88.771900 deg,
      new cmd heading: 88.856920 deg.

2025-08-08T21:32:19.270Z,1754688739.270 [DAT](INFO): DAT read: user:1171>

2025-08-08T21:32:19.271Z,1754688739.271 [DAT](INFO): DAT read: Tx time:21:32:19.0027

2025-08-08T21:32:19.271Z,1754688739.271 [DAT](INFO): Ping request sent.
2025-08-08T21:32:19.271Z,1754688739.271 [DAT](INFO): transmitted an acoustic signal
2025-08-08T21:32:19.272Z,1754688739.272 [DAT](INFO): publishing transmit ping time
2025-08-08T21:32:19.273Z,1754688739.273 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001190
2025-08-08T21:32:19.497Z,1754688739.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.10 m.
2025-08-08T21:32:19.499Z,1754688739.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.100006 m,
      nav range: 159.734619 m,
      bearing: 89.690986 deg,
      approach rate: 0.040904 m/s,
      LOS rate: 0.088754 deg/s,
      cmd heading: 88.856923 deg,
      new cmd heading: 88.954162 deg.

2025-08-08T21:32:19.521Z,1754688739.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249646
2025-08-08T21:32:19.775Z,1754688739.775 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503500
2025-08-08T21:32:19.919Z,1754688739.919 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-08T21:32:19.921Z,1754688739.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.10 m.
2025-08-08T21:32:19.924Z,1754688739.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.100006 m,
      nav range: 159.744919 m,
      bearing: 89.731462 deg,
      approach rate: 0.024224 m/s,
      LOS rate: 0.095189 deg/s,
      cmd heading: 88.954164 deg,
      new cmd heading: 89.075582 deg.

2025-08-08T21:32:20.026Z,1754688740.026 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754790
2025-08-08T21:32:20.277Z,1754688740.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005851
2025-08-08T21:32:20.292Z,1754688740.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.10 m.
2025-08-08T21:32:20.294Z,1754688740.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.100006 m,
      nav range: 159.753189 m,
      bearing: 89.766977 deg,
      approach rate: 0.022330 m/s,
      LOS rate: 0.095888 deg/s,
      cmd heading: 89.075584 deg,
      new cmd heading: 89.182123 deg.

2025-08-08T21:32:20.529Z,1754688740.529 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258197
2025-08-08T21:32:20.762Z,1754688740.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.10 m.
2025-08-08T21:32:20.768Z,1754688740.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.100006 m,
      nav range: 159.761353 m,
      bearing: 89.805666 deg,
      approach rate: 0.017385 m/s,
      LOS rate: 0.082390 deg/s,
      cmd heading: 89.182122 deg,
      new cmd heading: 89.298184 deg.

2025-08-08T21:32:20.781Z,1754688740.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510086
2025-08-08T21:32:21.033Z,1754688741.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761741
2025-08-08T21:32:21.144Z,1754688741.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.10 m.
2025-08-08T21:32:21.146Z,1754688741.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.100006 m,
      nav range: 159.766830 m,
      bearing: 89.851656 deg,
      approach rate: 0.014946 m/s,
      LOS rate: 0.125479 deg/s,
      cmd heading: 89.298187 deg,
      new cmd heading: 89.436152 deg.

2025-08-08T21:32:21.285Z,1754688741.285 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013667
2025-08-08T21:32:21.533Z,1754688741.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.10 m.
2025-08-08T21:32:21.537Z,1754688741.537 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265828
2025-08-08T21:32:21.540Z,1754688741.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.100006 m,
      nav range: 159.770630 m,
      bearing: 89.892805 deg,
      approach rate: 0.009365 m/s,
      LOS rate: 0.101419 deg/s,
      cmd heading: 89.436150 deg,
      new cmd heading: 89.559594 deg.

2025-08-08T21:32:21.791Z,1754688741.791 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520066
2025-08-08T21:32:21.955Z,1754688741.955 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-08T21:32:21.958Z,1754688741.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.10 m.
2025-08-08T21:32:21.963Z,1754688741.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.100006 m,
      nav range: 159.770706 m,
      bearing: 89.944613 deg,
      approach rate: 0.000180 m/s,
      LOS rate: 0.122105 deg/s,
      cmd heading: 89.559592 deg,
      new cmd heading: 89.715013 deg.

2025-08-08T21:32:22.042Z,1754688742.042 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770785
2025-08-08T21:32:22.293Z,1754688742.293 [DAT](INFO): DAT read: Rx Time:21:32:21.6218

2025-08-08T21:32:22.293Z,1754688742.293 [DAT](INFO): Rx dataTimestamp_ set to:1754688742.292897
2025-08-08T21:32:22.294Z,1754688742.294 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022618
2025-08-08T21:32:22.325Z,1754688742.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.10 m.
2025-08-08T21:32:22.331Z,1754688742.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.100006 m,
      nav range: 159.768280 m,
      bearing: 89.987244 deg,
      approach rate: -0.006607 m/s,
      LOS rate: 0.116097 deg/s,
      cmd heading: 89.715013 deg,
      new cmd heading: 89.842909 deg.

2025-08-08T21:32:22.545Z,1754688742.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273669
2025-08-08T21:32:22.810Z,1754688742.810 [DAT](INFO): DAT read: 21:32:21.6218 LVL= 26096, 23969, 32754, 32483, AGC= 64, IDX= 438,-0.35, 0.405,-0.240,-1.623,-0.236, PHS= 0.743, 0.041,-1.431, RAW=  48.5,   6.8, CAL=  47.2,   6.4, ROT= 102.8,  -6.4

2025-08-08T21:32:22.811Z,1754688742.811 [DAT](INFO): got valid direction response:
 21:32:21.6218 LVL= 26096, 23969, 32754, 32483, AGC= 64, IDX= 438,-0.35, 0.405,-0.240,-1.623,-0.236, PHS= 0.743, 0.041,-1.431, RAW=  48.5,   6.8, CAL=  47.2,   6.4, ROT= 102.8,  -6.4

2025-08-08T21:32:22.815Z,1754688742.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.10 m.
2025-08-08T21:32:22.817Z,1754688742.817 [DAT](INFO): DAT read: Bearing 298.9,  77.0 (Local)

2025-08-08T21:32:22.817Z,1754688742.817 [DAT](INFO): Local bearing/azimuth received:
 Bearing 298.9,  77.0 (Local)

2025-08-08T21:32:22.818Z,1754688742.818 [DAT](INFO): DAT read: Range 11 to 50 : 161.2 m  (Round-trip  215.0 ms) speed  0.0 m/s

2025-08-08T21:32:22.819Z,1754688742.819 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-08T21:32:22.829Z,1754688742.829 [DAT](INFO): direction in FSK: [-0.220168,0.969072,0.111469]
2025-08-08T21:32:22.829Z,1754688742.829 [DAT](INFO): publishing direction and range info
2025-08-08T21:32:22.838Z,1754688742.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.100006 m,
      nav range: 159.764191 m,
      bearing: 90.034471 deg,
      approach rate: -0.008342 m/s,
      LOS rate: 0.096336 deg/s,
      cmd heading: 89.842908 deg,
      new cmd heading: 89.984592 deg.

2025-08-08T21:32:22.843Z,1754688742.843 [DAT](INFO): ****** received valid address query ******
2025-08-08T21:32:22.844Z,1754688742.844 [DAT](INFO): ****** received valid ping request ******
2025-08-08T21:32:22.853Z,1754688742.853 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-08T21:32:23.049Z,1754688743.049 [DAT](INFO): DAT read: user:1172>

2025-08-08T21:32:23.050Z,1754688743.050 [DAT](INFO): DAT read: Tx time:21:32:22.8527

2025-08-08T21:32:23.050Z,1754688743.050 [DAT](INFO): Ping request sent.
2025-08-08T21:32:23.050Z,1754688743.050 [DAT](INFO): transmitted an acoustic signal
2025-08-08T21:32:23.050Z,1754688743.050 [DAT](INFO): publishing transmit ping time
2025-08-08T21:32:23.051Z,1754688743.051 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000737
2025-08-08T21:32:23.208Z,1754688743.208 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00021401193049,35.0, +10.5,   08,  0
2025-08-08T21:32:23.228Z,1754688743.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 161.199997 m,
      deltaT: 3.781618 s,
      deltaX: 0.099991 m,
      approachRate: 0.026441 m/s,
      rangeRepo size: 4

2025-08-08T21:32:23.230Z,1754688743.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 161.199997 m,
      bearing: 90.356849 deg,
      lat: 36.906154 deg,
      lon: -122.115824 deg,
      deltaT: 3.781618 s,
      deltaX: 0.099991 m,
      approachRate: 0.026441 m/s,
      posRepo size: 4

2025-08-08T21:32:23.231Z,1754688743.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.20 m.
2025-08-08T21:32:23.233Z,1754688743.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.199997 m,
      nav range: 159.760345 m,
      bearing: 90.356849 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.096336 deg/s,
      cmd heading: 89.984594 deg,
      new cmd heading: 90.103605 deg.

2025-08-08T21:32:23.302Z,1754688743.302 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251951
2025-08-08T21:32:23.553Z,1754688743.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502521
2025-08-08T21:32:23.623Z,1754688743.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.20 m.
2025-08-08T21:32:23.626Z,1754688743.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.199997 m,
      nav range: 159.754074 m,
      bearing: 90.403420 deg,
      approach rate: -0.015838 m/s,
      LOS rate: 0.117620 deg/s,
      cmd heading: 90.103603 deg,
      new cmd heading: 90.243322 deg.

2025-08-08T21:32:23.808Z,1754688743.808 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756798
2025-08-08T21:32:24.057Z,1754688744.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006742
2025-08-08T21:32:24.058Z,1754688744.058 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-08T21:32:24.060Z,1754688744.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.20 m.
2025-08-08T21:32:24.063Z,1754688744.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.199997 m,
      nav range: 159.749603 m,
      bearing: 90.459433 deg,
      approach rate: -0.010234 m/s,
      LOS rate: 0.128226 deg/s,
      cmd heading: 90.243321 deg,
      new cmd heading: 90.411364 deg.

2025-08-08T21:32:24.310Z,1754688744.310 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259725
2025-08-08T21:32:24.424Z,1754688744.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.20 m.
2025-08-08T21:32:24.427Z,1754688744.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.199997 m,
      nav range: 159.744324 m,
      bearing: 90.506547 deg,
      approach rate: -0.014495 m/s,
      LOS rate: 0.129352 deg/s,
      cmd heading: 90.411364 deg,
      new cmd heading: 90.552708 deg.

2025-08-08T21:32:24.561Z,1754688744.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510984
2025-08-08T21:32:24.816Z,1754688744.816 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765208
2025-08-08T21:32:24.897Z,1754688744.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.20 m.
2025-08-08T21:32:24.899Z,1754688744.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.199997 m,
      nav range: 159.741684 m,
      bearing: 90.570679 deg,
      approach rate: -0.005585 m/s,
      LOS rate: 0.135680 deg/s,
      cmd heading: 90.552708 deg,
      new cmd heading: 90.745107 deg.

2025-08-08T21:32:25.065Z,1754688745.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014572
2025-08-08T21:32:25.239Z,1754688745.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.20 m.
2025-08-08T21:32:25.242Z,1754688745.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.199997 m,
      nav range: 159.738174 m,
      bearing: 90.617393 deg,
      approach rate: -0.010242 m/s,
      LOS rate: 0.136332 deg/s,
      cmd heading: 90.745108 deg,
      new cmd heading: 90.885253 deg.

2025-08-08T21:32:25.319Z,1754688745.319 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268429
2025-08-08T21:32:25.569Z,1754688745.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518664
2025-08-08T21:32:25.637Z,1754688745.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.20 m.
2025-08-08T21:32:25.640Z,1754688745.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.199997 m,
      nav range: 159.732269 m,
      bearing: 90.671345 deg,
      approach rate: -0.014848 m/s,
      LOS rate: 0.135662 deg/s,
      cmd heading: 90.885256 deg,
      new cmd heading: 91.047117 deg.

2025-08-08T21:32:25.824Z,1754688745.824 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773144
2025-08-08T21:32:26.073Z,1754688746.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022663
2025-08-08T21:32:26.081Z,1754688746.081 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-08T21:32:26.083Z,1754688746.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.20 m.
2025-08-08T21:32:26.102Z,1754688746.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.199997 m,
      nav range: 159.727737 m,
      bearing: 90.734877 deg,
      approach rate: -0.010155 m/s,
      LOS rate: 0.142370 deg/s,
      cmd heading: 91.047118 deg,
      new cmd heading: 91.237719 deg.

2025-08-08T21:32:26.326Z,1754688746.326 [DAT](INFO): DAT read: Rx Time:21:32:25.4722

2025-08-08T21:32:26.327Z,1754688746.327 [DAT](INFO): Rx dataTimestamp_ set to:1754688746.326408
2025-08-08T21:32:26.328Z,1754688746.328 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277257
2025-08-08T21:32:26.442Z,1754688746.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.20 m.
2025-08-08T21:32:26.444Z,1754688746.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.199997 m,
      nav range: 159.722183 m,
      bearing: 90.787240 deg,
      approach rate: -0.015497 m/s,
      LOS rate: 0.146101 deg/s,
      cmd heading: 91.237722 deg,
      new cmd heading: 91.394816 deg.

2025-08-08T21:32:26.582Z,1754688746.582 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.531943
2025-08-08T21:32:26.852Z,1754688746.852 [DAT](INFO): DAT read: 21:32:25.4722 LVL= 27872, 32753, 32754, 32755, AGC= 63, IDX= 442,-0.04, 1.695, 1.024,-0.230, 1.091, PHS= 0.707,-0.022,-1.365, RAW=  50.3,   7.5, CAL=  48.7,   7.4, ROT= 101.3,  -7.4

2025-08-08T21:32:26.854Z,1754688746.854 [DAT](INFO): got valid direction response:
 21:32:25.4722 LVL= 27872, 32753, 32754, 32755, AGC= 63, IDX= 442,-0.04, 1.695, 1.024,-0.230, 1.091, PHS= 0.707,-0.022,-1.365, RAW=  50.3,   7.5, CAL=  48.7,   7.4, ROT= 101.3,  -7.4

2025-08-08T21:32:26.855Z,1754688746.855 [DAT](INFO): DAT read: Bearing 304.7,  77.4 (Local)

2025-08-08T21:32:26.855Z,1754688746.855 [DAT](INFO): Local bearing/azimuth received:
 Bearing 304.7,  77.4 (Local)

2025-08-08T21:32:26.857Z,1754688746.857 [DAT](INFO): DAT read: Range 11 to 50 : 161.5 m  (Round-trip  215.4 ms) speed -0.1 m/s

2025-08-08T21:32:26.858Z,1754688746.858 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-08T21:32:26.888Z,1754688746.888 [DAT](INFO): direction in FSK: [-0.194314,0.972447,0.128796]
2025-08-08T21:32:26.888Z,1754688746.888 [DAT](INFO): publishing direction and range info
2025-08-08T21:32:26.891Z,1754688746.891 [DAT](INFO): ****** received valid address query ******
2025-08-08T21:32:26.891Z,1754688746.891 [DAT](INFO): ****** received valid ping request ******
2025-08-08T21:32:26.896Z,1754688746.896 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-08T21:32:27.029Z,1754688747.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 161.500000 m,
      deltaT: 4.032662 s,
      deltaX: 0.300003 m,
      approachRate: 0.074393 m/s,
      rangeRepo size: 4

2025-08-08T21:32:27.031Z,1754688747.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 161.500000 m,
      bearing: 91.229478 deg,
      lat: 36.906145 deg,
      lon: -122.115824 deg,
      deltaT: 4.032662 s,
      deltaX: 0.300003 m,
      approachRate: 0.074393 m/s,
      posRepo size: 4

2025-08-08T21:32:27.033Z,1754688747.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.50 m.
2025-08-08T21:32:27.044Z,1754688747.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.500000 m,
      nav range: 159.736984 m,
      bearing: 91.229478 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.146101 deg/s,
      cmd heading: 91.394816 deg,
      new cmd heading: 91.652073 deg.

2025-08-08T21:32:27.082Z,1754688747.082 [DAT](INFO): DAT read: user:1173>

2025-08-08T21:32:27.083Z,1754688747.083 [DAT](INFO): DAT read: Tx time:21:32:26.9027

2025-08-08T21:32:27.083Z,1754688747.083 [DAT](INFO): Ping request sent.
2025-08-08T21:32:27.083Z,1754688747.083 [DAT](INFO): transmitted an acoustic signal
2025-08-08T21:32:27.083Z,1754688747.083 [DAT](INFO): publishing transmit ping time
2025-08-08T21:32:27.084Z,1754688747.084 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001170
2025-08-08T21:32:27.334Z,1754688747.334 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250916
2025-08-08T21:32:27.422Z,1754688747.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.50 m.
2025-08-08T21:32:27.425Z,1754688747.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.500000 m,
      nav range: 159.730408 m,
      bearing: 91.292799 deg,
      approach rate: -0.016719 m/s,
      LOS rate: 0.160982 deg/s,
      cmd heading: 91.652075 deg,
      new cmd heading: 91.842046 deg.

2025-08-08T21:32:27.585Z,1754688747.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501719
2025-08-08T21:32:27.840Z,1754688747.840 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756469
2025-08-08T21:32:27.865Z,1754688747.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.50 m.
2025-08-08T21:32:27.881Z,1754688747.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.500000 m,
      nav range: 159.721802 m,
      bearing: 91.353499 deg,
      approach rate: -0.019696 m/s,
      LOS rate: 0.138925 deg/s,
      cmd heading: 91.842043 deg,
      new cmd heading: 92.024152 deg.

2025-08-08T21:32:28.089Z,1754688748.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006249
2025-08-08T21:32:28.243Z,1754688748.243 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-08T21:32:28.246Z,1754688748.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.50 m.
2025-08-08T21:32:28.249Z,1754688748.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.500000 m,
      nav range: 159.715836 m,
      bearing: 91.420604 deg,
      approach rate: -0.015424 m/s,
      LOS rate: 0.173483 deg/s,
      cmd heading: 92.024150 deg,
      new cmd heading: 92.225471 deg.

2025-08-08T21:32:28.343Z,1754688748.343 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259667
2025-08-08T21:32:28.593Z,1754688748.593 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509876
2025-08-08T21:32:28.691Z,1754688748.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.50 m.
2025-08-08T21:32:28.694Z,1754688748.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.500000 m,
      nav range: 159.706940 m,
      bearing: 91.490099 deg,
      approach rate: -0.019968 m/s,
      LOS rate: 0.156001 deg/s,
      cmd heading: 92.225469 deg,
      new cmd heading: 92.433967 deg.

2025-08-08T21:32:28.848Z,1754688748.848 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764209
2025-08-08T21:32:29.097Z,1754688749.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013775
2025-08-08T21:32:29.098Z,1754688749.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.50 m.
2025-08-08T21:32:29.105Z,1754688749.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.500000 m,
      nav range: 159.695816 m,
      bearing: 91.553410 deg,
      approach rate: -0.027744 m/s,
      LOS rate: 0.157916 deg/s,
      cmd heading: 92.433968 deg,
      new cmd heading: 92.623913 deg.

2025-08-08T21:32:29.349Z,1754688749.349 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265887
2025-08-08T21:32:29.463Z,1754688749.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.50 m.
2025-08-08T21:32:29.466Z,1754688749.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.500000 m,
      nav range: 159.682693 m,
      bearing: 91.614384 deg,
      approach rate: -0.035410 m/s,
      LOS rate: 0.164544 deg/s,
      cmd heading: 92.623915 deg,
      new cmd heading: 92.806851 deg.

2025-08-08T21:32:29.601Z,1754688749.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517784
2025-08-08T21:32:29.856Z,1754688749.856 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772200
2025-08-08T21:32:29.921Z,1754688749.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.50 m.
2025-08-08T21:32:29.928Z,1754688749.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.500000 m,
      nav range: 159.665756 m,
      bearing: 91.680579 deg,
      approach rate: -0.036924 m/s,
      LOS rate: 0.144321 deg/s,
      cmd heading: 92.806848 deg,
      new cmd heading: 93.005453 deg.

2025-08-08T21:32:30.105Z,1754688750.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021858
2025-08-08T21:32:30.279Z,1754688750.279 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-08T21:32:30.282Z,1754688750.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.50 m.
2025-08-08T21:32:30.284Z,1754688750.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.500000 m,
      nav range: 159.644272 m,
      bearing: 91.746536 deg,
      approach rate: -0.059672 m/s,
      LOS rate: 0.183216 deg/s,
      cmd heading: 93.005450 deg,
      new cmd heading: 93.203347 deg.

2025-08-08T21:32:30.358Z,1754688750.358 [DAT](INFO): DAT read: Rx Time:21:32:29.5222

2025-08-08T21:32:30.358Z,1754688750.358 [DAT](INFO): Rx dataTimestamp_ set to:1754688750.358176
2025-08-08T21:32:30.359Z,1754688750.359 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276289
2025-08-08T21:32:30.609Z,1754688750.609 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526035
2025-08-08T21:32:30.779Z,1754688750.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.50 m.
2025-08-08T21:32:30.782Z,1754688750.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.500000 m,
      nav range: 159.618225 m,
      bearing: 91.827346 deg,
      approach rate: -0.052353 m/s,
      LOS rate: 0.162454 deg/s,
      cmd heading: 93.203348 deg,
      new cmd heading: 93.445818 deg.

2025-08-08T21:32:30.871Z,1754688750.871 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.784407
2025-08-08T21:32:31.117Z,1754688751.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.033847
2025-08-08T21:32:31.130Z,1754688751.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.50 m.
2025-08-08T21:32:31.133Z,1754688751.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.500000 m,
      nav range: 159.590073 m,
      bearing: 91.885958 deg,
      approach rate: -0.080116 m/s,
      LOS rate: 0.166826 deg/s,
      cmd heading: 93.445819 deg,
      new cmd heading: 93.621686 deg.

2025-08-08T21:32:31.369Z,1754688751.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.285735
2025-08-08T21:32:31.503Z,1754688751.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.50 m.
2025-08-08T21:32:31.506Z,1754688751.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.500000 m,
      nav range: 159.557495 m,
      bearing: 91.947929 deg,
      approach rate: -0.087455 m/s,
      LOS rate: 0.166395 deg/s,
      cmd heading: 93.621683 deg,
      new cmd heading: 93.807632 deg.

2025-08-08T21:32:31.621Z,1754688751.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.537999
2025-08-08T21:32:31.876Z,1754688751.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.792953
2025-08-08T21:32:31.989Z,1754688751.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.50 m.
2025-08-08T21:32:31.991Z,1754688751.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.500000 m,
      nav range: 159.496841 m,
      bearing: 92.030863 deg,
      approach rate: -0.124876 m/s,
      LOS rate: 0.170812 deg/s,
      cmd heading: 93.807635 deg,
      new cmd heading: 94.056528 deg.

2025-08-08T21:32:32.125Z,1754688752.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.041713
2025-08-08T21:32:32.314Z,1754688752.314 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-08T21:32:32.318Z,1754688752.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.50 m.
2025-08-08T21:32:32.322Z,1754688752.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.500000 m,
      nav range: 159.454483 m,
      bearing: 92.085211 deg,
      approach rate: -0.128870 m/s,
      LOS rate: 0.165393 deg/s,
      cmd heading: 94.056527 deg,
      new cmd heading: 94.219616 deg.

2025-08-08T21:32:32.377Z,1754688752.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.293927
2025-08-08T21:32:32.629Z,1754688752.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.545876
2025-08-08T21:32:32.710Z,1754688752.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.50 m.
2025-08-08T21:32:32.713Z,1754688752.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.500000 m,
      nav range: 159.398117 m,
      bearing: 92.153214 deg,
      approach rate: -0.143594 m/s,
      LOS rate: 0.173301 deg/s,
      cmd heading: 94.219618 deg,
      new cmd heading: 94.423698 deg.

2025-08-08T21:32:32.885Z,1754688752.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.801004
2025-08-08T21:32:33.133Z,1754688753.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.049961
2025-08-08T21:32:33.217Z,1754688753.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.50 m.
2025-08-08T21:32:33.219Z,1754688753.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.500000 m,
      nav range: 159.324066 m,
      bearing: 92.237795 deg,
      approach rate: -0.146148 m/s,
      LOS rate: 0.167008 deg/s,
      cmd heading: 94.423697 deg,
      new cmd heading: 94.677557 deg.

2025-08-08T21:32:33.388Z,1754688753.388 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.304889
2025-08-08T21:32:33.524Z,1754688753.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.50 m.
2025-08-08T21:32:33.527Z,1754688753.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.500000 m,
      nav range: 159.271149 m,
      bearing: 92.294993 deg,
      approach rate: -0.171844 m/s,
      LOS rate: 0.185807 deg/s,
      cmd heading: 94.677555 deg,
      new cmd heading: 94.849206 deg.

2025-08-08T21:32:33.637Z,1754688753.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.553794
2025-08-08T21:32:33.892Z,1754688753.892 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.808386
2025-08-08T21:32:33.996Z,1754688753.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.50 m.
2025-08-08T21:32:33.999Z,1754688753.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.500000 m,
      nav range: 159.193848 m,
      bearing: 92.374196 deg,
      approach rate: -0.165291 m/s,
      LOS rate: 0.169440 deg/s,
      cmd heading: 94.849205 deg,
      new cmd heading: 95.086927 deg.

2025-08-08T21:32:34.141Z,1754688754.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.057708
2025-08-08T21:32:34.385Z,1754688754.385 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-08T21:32:34.387Z,1754688754.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.50 m.
2025-08-08T21:32:34.390Z,1754688754.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.500000 m,
      nav range: 159.123367 m,
      bearing: 92.442505 deg,
      approach rate: -0.178442 m/s,
      LOS rate: 0.173021 deg/s,
      cmd heading: 95.086929 deg,
      new cmd heading: 95.291946 deg.

2025-08-08T21:32:34.393Z,1754688754.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.309860
2025-08-08T21:32:34.645Z,1754688754.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.561785
2025-08-08T21:32:34.743Z,1754688754.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.50 m.
2025-08-08T21:32:34.746Z,1754688754.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.500000 m,
      nav range: 159.050690 m,
      bearing: 92.509570 deg,
      approach rate: -0.204140 m/s,
      LOS rate: 0.188462 deg/s,
      cmd heading: 95.291944 deg,
      new cmd heading: 95.493231 deg.

2025-08-08T21:32:34.897Z,1754688754.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.814269
2025-08-08T21:32:35.149Z,1754688755.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.065809
2025-08-08T21:32:35.243Z,1754688755.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.50 m.
2025-08-08T21:32:35.253Z,1754688755.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.500000 m,
      nav range: 158.952545 m,
      bearing: 92.599104 deg,
      approach rate: -0.196964 m/s,
      LOS rate: 0.179794 deg/s,
      cmd heading: 95.493230 deg,
      new cmd heading: 95.761995 deg.

2025-08-08T21:32:35.401Z,1754688755.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.317819
2025-08-08T21:32:35.622Z,1754688755.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.50 m.
2025-08-08T21:32:35.625Z,1754688755.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.500000 m,
      nav range: 158.869553 m,
      bearing: 92.671498 deg,
      approach rate: -0.217958 m/s,
      LOS rate: 0.190223 deg/s,
      cmd heading: 95.761998 deg,
      new cmd heading: 95.979292 deg.

2025-08-08T21:32:35.653Z,1754688755.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.569818
2025-08-08T21:32:35.905Z,1754688755.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.822146
2025-08-08T21:32:36.055Z,1754688756.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.50 m.
2025-08-08T21:32:36.057Z,1754688756.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.500000 m,
      nav range: 158.780334 m,
      bearing: 92.753304 deg,
      approach rate: -0.206329 m/s,
      LOS rate: 0.189293 deg/s,
      cmd heading: 95.979294 deg,
      new cmd heading: 96.224848 deg.

2025-08-08T21:32:36.157Z,1754688756.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.073843
2025-08-08T21:32:36.409Z,1754688756.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.325811
2025-08-08T21:32:36.430Z,1754688756.430 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-08T21:32:36.433Z,1754688756.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.50 m.
2025-08-08T21:32:36.435Z,1754688756.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.500000 m,
      nav range: 158.699142 m,
      bearing: 92.824279 deg,
      approach rate: -0.214834 m/s,
      LOS rate: 0.187897 deg/s,
      cmd heading: 96.224846 deg,
      new cmd heading: 96.437880 deg.

2025-08-08T21:32:36.661Z,1754688756.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.577805
2025-08-08T21:32:36.876Z,1754688756.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.50 m.
2025-08-08T21:32:36.879Z,1754688756.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.500000 m,
      nav range: 158.605698 m,
      bearing: 92.902335 deg,
      approach rate: -0.212686 m/s,
      LOS rate: 0.177765 deg/s,
      cmd heading: 96.437879 deg,
      new cmd heading: 96.672184 deg.

2025-08-08T21:32:36.914Z,1754688756.914 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.830583
2025-08-08T21:32:37.164Z,1754688757.164 [DAT](INFO): Reached modem response timeout
2025-08-08T21:32:37.165Z,1754688757.165 [DAT](DEBUG): Acoustic response timeout
2025-08-08T21:32:37.165Z,1754688757.165 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-08T21:32:37.267Z,1754688757.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.50 m.
2025-08-08T21:32:37.270Z,1754688757.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.500000 m,
      nav range: 158.516006 m,
      bearing: 92.981747 deg,
      approach rate: -0.226757 m/s,
      LOS rate: 0.200882 deg/s,
      cmd heading: 96.672182 deg,
      new cmd heading: 96.910550 deg.

2025-08-08T21:32:37.420Z,1754688757.420 [DAT](INFO): DAT read: 21:32:29.5223 LVL= 18224, 21457, 27890, 25971, AGC= 64, IDX= 426, 0.08,-0.269,-1.326,-2.317,-0.958, PHS= 0.791,-0.323,-1.403, RAW=  60.5,   9.9, CAL=  58.1,  12.2, ROT>

2025-08-08T21:32:37.422Z,1754688757.422 [DAT](INFO): unknown deviceResponse_: 21:32:29.5223 LVL= 18224, 21457, 27890, 25971, AGC= 64, IDX= 426, 0.08,-0.269,-1.326,-2.317,-0.958, PHS= 0.791,-0.323,-1.403, RAW=  60.5,   9.9, CAL=  58.1,  12.2, ROT>

2025-08-08T21:32:37.422Z,1754688757.422 [DAT](INFO): DAT read: Tx time:21:32:37.1528

2025-08-08T21:32:37.422Z,1754688757.422 [DAT](INFO): Ping request sent.
2025-08-08T21:32:37.422Z,1754688757.422 [DAT](INFO): transmitted an acoustic signal
2025-08-08T21:32:37.423Z,1754688757.423 [DAT](INFO): publishing transmit ping time
2025-08-08T21:32:37.423Z,1754688757.423 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000760
2025-08-08T21:32:37.661Z,1754688757.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.50 m.
2025-08-08T21:32:37.669Z,1754688757.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.246584
2025-08-08T21:32:37.672Z,1754688757.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.500000 m,
      nav range: 158.432800 m,
      bearing: 93.052098 deg,
      approach rate: -0.211391 m/s,
      LOS rate: 0.178827 deg/s,
      cmd heading: 96.910549 deg,
      new cmd heading: 97.121713 deg.

2025-08-08T21:32:37.921Z,1754688757.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.498228
2025-08-08T21:32:38.105Z,1754688758.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.50 m.
2025-08-08T21:32:38.108Z,1754688758.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.500000 m,
      nav range: 158.340729 m,
      bearing: 93.140071 deg,
      approach rate: -0.207339 m/s,
      LOS rate: 0.198223 deg/s,
      cmd heading: 97.121711 deg,
      new cmd heading: 97.385780 deg.

2025-08-08T21:32:38.173Z,1754688758.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.750437
2025-08-08T21:32:38.425Z,1754688758.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.002260
2025-08-08T21:32:38.474Z,1754688758.474 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-08T21:32:38.495Z,1754688758.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.50 m.
2025-08-08T21:32:38.497Z,1754688758.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.500000 m,
      nav range: 158.265915 m,
      bearing: 93.211893 deg,
      approach rate: -0.192118 m/s,
      LOS rate: 0.184522 deg/s,
      cmd heading: 97.385780 deg,
      new cmd heading: 97.601347 deg.

2025-08-08T21:32:38.677Z,1754688758.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.254387
2025-08-08T21:32:38.871Z,1754688758.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.50 m.
2025-08-08T21:32:38.874Z,1754688758.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.500000 m,
      nav range: 158.177429 m,
      bearing: 93.285473 deg,
      approach rate: -0.235068 m/s,
      LOS rate: 0.195580 deg/s,
      cmd heading: 97.601347 deg,
      new cmd heading: 97.822211 deg.

2025-08-08T21:32:38.930Z,1754688758.930 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.507322
2025-08-08T21:32:39.181Z,1754688759.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758490
2025-08-08T21:32:39.284Z,1754688759.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.50 m.
2025-08-08T21:32:39.287Z,1754688759.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.500000 m,
      nav range: 158.082031 m,
      bearing: 93.362591 deg,
      approach rate: -0.230977 m/s,
      LOS rate: 0.186830 deg/s,
      cmd heading: 97.822208 deg,
      new cmd heading: 98.053701 deg.

2025-08-08T21:32:39.433Z,1754688759.433 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.010213
2025-08-08T21:32:39.668Z,1754688759.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.50 m.
2025-08-08T21:32:39.670Z,1754688759.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.500000 m,
      nav range: 157.990646 m,
      bearing: 93.433463 deg,
      approach rate: -0.238240 m/s,
      LOS rate: 0.184870 deg/s,
      cmd heading: 98.053704 deg,
      new cmd heading: 98.266442 deg.

2025-08-08T21:32:39.685Z,1754688759.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262821
2025-08-08T21:32:39.937Z,1754688759.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514295
2025-08-08T21:32:40.145Z,1754688760.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.50 m.
2025-08-08T21:32:40.152Z,1754688760.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.500000 m,
      nav range: 157.884323 m,
      bearing: 93.514370 deg,
      approach rate: -0.222709 m/s,
      LOS rate: 0.169585 deg/s,
      cmd heading: 98.266444 deg,
      new cmd heading: 98.509327 deg.

2025-08-08T21:32:40.189Z,1754688760.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766336
2025-08-08T21:32:40.441Z,1754688760.441 [DAT](INFO): DAT read: Rx Time:21:32:39.7707

2025-08-08T21:32:40.442Z,1754688760.442 [DAT](INFO): Rx dataTimestamp_ set to:1754688760.441235
2025-08-08T21:32:40.442Z,1754688760.442 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019555
2025-08-08T21:32:40.533Z,1754688760.533 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-08T21:32:40.535Z,1754688760.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 161.50 m.
2025-08-08T21:32:40.547Z,1754688760.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 161.500000 m,
      nav range: 157.783127 m,
      bearing: 93.588394 deg,
      approach rate: -0.259389 m/s,
      LOS rate: 0.189861 deg/s,
      cmd heading: 98.509325 deg,
      new cmd heading: 98.731538 deg.

2025-08-08T21:32:40.693Z,1754688760.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270357
2025-08-08T21:32:40.957Z,1754688760.957 [DAT](INFO): DAT read: 21:32:39.7707 LVL= 23008, 27857, 32754, 30323, AGC= 65, IDX= 425, 0.19,-1.606, 2.891, 2.881,-2.549, PHS= 1.045,-0.798,-0.896, RAW=  87.4,   6.9, CAL=  86.7,   5.6, ROT=  63.3,  -5.6

2025-08-08T21:32:40.958Z,1754688760.958 [DAT](INFO): got valid direction response:
 21:32:39.7707 LVL= 23008, 27857, 32754, 30323, AGC= 65, IDX= 425, 0.19,-1.606, 2.891, 2.881,-2.549, PHS= 1.045,-0.798,-0.896, RAW=  87.4,   6.9, CAL=  86.7,   5.6, ROT=  63.3,  -5.6

2025-08-08T21:32:40.959Z,1754688760.959 [DAT](INFO): DAT read: Bearing 196.8,  66.2 (Local)

2025-08-08T21:32:40.959Z,1754688760.959 [DAT](INFO): Local bearing/azimuth received:
 Bearing 196.8,  66.2 (Local)

2025-08-08T21:32:40.961Z,1754688760.961 [DAT](INFO): DAT read: Range 11 to 50 : 160.2 m  (Round-trip  213.7 ms) speed  0.2 m/s

2025-08-08T21:32:40.961Z,1754688760.961 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-08T21:32:40.962Z,1754688760.962 [DAT](INFO): direction in FSK: [0.447175,0.889108,0.097583]
2025-08-08T21:32:40.962Z,1754688760.962 [DAT](INFO): publishing direction and range info
2025-08-08T21:32:40.986Z,1754688760.986 [DAT](INFO): ****** received valid address query ******
2025-08-08T21:32:40.986Z,1754688760.986 [DAT](INFO): ****** received valid ping request ******
2025-08-08T21:32:40.986Z,1754688760.986 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-08T21:32:41.121Z,1754688761.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 160.199997 m,
      deltaT: 14.114913 s,
      deltaX: -1.300003 m,
      approachRate: -0.092101 m/s,
      rangeRepo size: 4

2025-08-08T21:32:41.123Z,1754688761.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 160.199997 m,
      bearing: 95.747105 deg,
      lat: 36.906094 deg,
      lon: -122.115825 deg,
      deltaT: 14.114913 s,
      deltaX: -1.300003 m,
      approachRate: -0.092101 m/s,
      posRepo size: 4

2025-08-08T21:32:41.140Z,1754688761.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.20 m.
2025-08-08T21:32:41.143Z,1754688761.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 160.199997 m,
      nav range: 157.974380 m,
      bearing: 95.747105 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.189861 deg/s,
      cmd heading: 98.731539 deg,
      new cmd heading: 99.064926 deg.

2025-08-08T21:32:41.197Z,1754688761.197 [DAT](INFO): DAT read: user:1175>

2025-08-08T21:32:41.199Z,1754688761.199 [DAT](INFO): DAT read: Tx time:21:32:40.9528

2025-08-08T21:32:41.199Z,1754688761.199 [DAT](INFO): Ping request sent.
2025-08-08T21:32:41.199Z,1754688761.199 [DAT](INFO): transmitted an acoustic signal
2025-08-08T21:32:41.199Z,1754688761.199 [DAT](INFO): publishing transmit ping time
2025-08-08T21:32:41.201Z,1754688761.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001843
2025-08-08T21:32:41.449Z,1754688761.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249696
2025-08-08T21:32:41.496Z,1754688761.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.20 m.
2025-08-08T21:32:41.499Z,1754688761.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 160.199997 m,
      nav range: 157.863907 m,
      bearing: 95.817787 deg,
      approach rate: -0.294407 m/s,
      LOS rate: 0.188497 deg/s,
      cmd heading: 99.064927 deg,
      new cmd heading: 99.277122 deg.

2025-08-08T21:32:41.701Z,1754688761.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502083
2025-08-08T21:32:41.878Z,1754688761.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.20 m.
2025-08-08T21:32:41.881Z,1754688761.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 160.199997 m,
      nav range: 157.756256 m,
      bearing: 95.884041 deg,
      approach rate: -0.281678 m/s,
      LOS rate: 0.173478 deg/s,
      cmd heading: 99.277121 deg,
      new cmd heading: 99.476018 deg.

2025-08-08T21:32:41.953Z,1754688761.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753819
2025-08-08T21:32:42.205Z,1754688762.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005581
2025-08-08T21:32:42.319Z,1754688762.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.20 m.
2025-08-08T21:32:42.323Z,1754688762.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 160.199997 m,
      nav range: 157.615555 m,
      bearing: 95.958060 deg,
      approach rate: -0.318903 m/s,
      LOS rate: 0.167916 deg/s,
      cmd heading: 99.476016 deg,
      new cmd heading: 99.698270 deg.

2025-08-08T21:32:42.457Z,1754688762.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257510
2025-08-08T21:32:42.682Z,1754688762.682 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-08T21:32:42.684Z,1754688762.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.20 m.
2025-08-08T21:32:42.687Z,1754688762.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 160.199997 m,
      nav range: 157.493439 m,
      bearing: 96.020045 deg,
      approach rate: -0.334886 m/s,
      LOS rate: 0.170117 deg/s,
      cmd heading: 99.698270 deg,
      new cmd heading: 99.884369 deg.

2025-08-08T21:32:42.722Z,1754688762.722 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.522542
2025-08-08T21:32:42.973Z,1754688762.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.773570
2025-08-08T21:32:43.221Z,1754688763.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.20 m.
2025-08-08T21:32:43.223Z,1754688763.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 160.199997 m,
      nav range: 157.300247 m,
      bearing: 96.105782 deg,
      approach rate: -0.359821 m/s,
      LOS rate: 0.159881 deg/s,
      cmd heading: 99.884372 deg,
      new cmd heading: 100.141896 deg.

2025-08-08T21:32:43.225Z,1754688763.225 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.025637
2025-08-08T21:32:43.477Z,1754688763.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.277634
2025-08-08T21:32:43.528Z,1754688763.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.20 m.
2025-08-08T21:32:43.531Z,1754688763.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 160.199997 m,
      nav range: 157.189682 m,
      bearing: 96.155014 deg,
      approach rate: -0.359494 m/s,
      LOS rate: 0.160187 deg/s,
      cmd heading: 100.141898 deg,
      new cmd heading: 100.289698 deg.

2025-08-08T21:32:43.729Z,1754688763.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.529627
2025-08-08T21:32:43.910Z,1754688763.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.20 m.
2025-08-08T21:32:43.929Z,1754688763.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 160.199997 m,
      nav range: 157.046585 m,
      bearing: 96.214111 deg,
      approach rate: -0.374660 m/s,
      LOS rate: 0.154870 deg/s,
      cmd heading: 100.289696 deg,
      new cmd heading: 100.467148 deg.

2025-08-08T21:32:43.981Z,1754688763.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.781618
2025-08-08T21:32:44.233Z,1754688764.233 [DAT](INFO): DAT read: Rx Time:21:32:43.5693

2025-08-08T21:32:44.233Z,1754688764.233 [DAT](INFO): Rx dataTimestamp_ set to:1754688764.233027
2025-08-08T21:32:44.234Z,1754688764.234 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.034592
2025-08-08T21:32:44.339Z,1754688764.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 160.20 m.
2025-08-08T21:32:44.358Z,1754688764.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 160.199997 m,
      nav range: 156.872025 m,
      bearing: 96.277210 deg,
      approach rate: -0.407076 m/s,
      LOS rate: 0.147310 deg/s,
      cmd heading: 100.467144 deg,
      new cmd heading: 100.656651 deg.

2025-08-08T21:32:44.486Z,1754688764.486 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.286304
2025-08-08T21:32:44.754Z,1754688764.754 [DAT](INFO): DAT read: 21:32:43.5693 LVL= 22368, 28193, 32754, 31523, AGC= 66, IDX= 427,-0.01, 0.672,-1.024,-0.806,-0.071, PHS= 0.844,-0.908,-0.780, RAW=  93.8,  10.0, CAL=  93.8,  10.8, ROT=  56.2, -10.8

2025-08-08T21:32:44.755Z,1754688764.755 [DAT](INFO): got valid direction response:
 21:32:43.5693 LVL= 22368, 28193, 32754, 31523, AGC= 66, IDX= 427,-0.01, 0.672,-1.024,-0.806,-0.071, PHS= 0.844,-0.908,-0.780, RAW=  93.8,  10.0, CAL=  93.8,  10.8, ROT=  56.2, -10.8

2025-08-08T21:32:44.756Z,1754688764.756 [DAT](INFO): DAT read: Bearing 215.3,  58.9 (Local)

2025-08-08T21:32:44.756Z,1754688764.756 [DAT](INFO): Local bearing/azimuth received:
 Bearing 215.3,  58.9 (Local)

2025-08-08T21:32:44.758Z,1754688764.758 [DAT](INFO): DAT read: Range 11 to 50 : 159.3 m  (Round-trip  212.4 ms) speed  0.4 m/s

2025-08-08T21:32:44.758Z,1754688764.758 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-08T21:32:44.759Z,1754688764.759 [DAT](INFO): direction in FSK: [0.546442,0.816265,0.187381]
2025-08-08T21:32:44.760Z,1754688764.760 [DAT](INFO): publishing direction and range info
2025-08-08T21:32:44.815Z,1754688764.815 [DAT](INFO): ****** received valid address query ******
2025-08-08T21:32:44.815Z,1754688764.815 [DAT](INFO): ****** received valid ping request ******
2025-08-08T21:32:44.815Z,1754688764.815 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-08T21:32:44.882Z,1754688764.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 159.300003 m,
      deltaT: 3.791577 s,
      deltaX: -0.899994 m,
      approachRate: -0.237367 m/s,
      rangeRepo size: 4

2025-08-08T21:32:44.889Z,1754688764.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 159.300003 m,
      bearing: 98.038969 deg,
      lat: 36.906052 deg,
      lon: -122.115826 deg,
      deltaT: 3.791577 s,
      deltaX: -0.899994 m,
      approachRate: -0.237367 m/s,
      posRepo size: 4

2025-08-08T21:32:44.889Z,1754688764.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.30 m.
2025-08-08T21:32:44.896Z,1754688764.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 159.300003 m,
      nav range: 157.207153 m,
      bearing: 98.038969 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.147310 deg/s,
      cmd heading: 100.656648 deg,
      new cmd heading: 100.896500 deg.

2025-08-08T21:32:44.989Z,1754688764.989 [DAT](INFO): DAT read: user:1176>

2025-08-08T21:32:44.990Z,1754688764.990 [DAT](INFO): DAT read: Tx time:21:32:44.8528

2025-08-08T21:32:44.990Z,1754688764.990 [DAT](INFO): Ping request sent.
2025-08-08T21:32:44.990Z,1754688764.990 [DAT](INFO): transmitted an acoustic signal
2025-08-08T21:32:44.990Z,1754688764.990 [DAT](INFO): publishing transmit ping time
2025-08-08T21:32:44.991Z,1754688764.991 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000741
2025-08-08T21:32:45.241Z,1754688765.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250646
2025-08-08T21:32:45.266Z,1754688765.266 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-08T21:32:45.269Z,1754688765.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.30 m.
2025-08-08T21:32:45.271Z,1754688765.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 159.300003 m,
      nav range: 157.029282 m,
      bearing: 98.102033 deg,
      approach rate: -0.459575 m/s,
      LOS rate: 0.163126 deg/s,
      cmd heading: 100.896497 deg,
      new cmd heading: 101.085903 deg.

2025-08-08T21:32:45.493Z,1754688765.493 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502815
2025-08-08T21:32:45.637Z,1754688765.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.30 m.
2025-08-08T21:32:45.639Z,1754688765.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 159.300003 m,
      nav range: 156.873856 m,
      bearing: 98.155166 deg,
      approach rate: -0.422404 m/s,
      LOS rate: 0.144544 deg/s,
      cmd heading: 101.085905 deg,
      new cmd heading: 101.245463 deg.

2025-08-08T21:32:45.745Z,1754688765.745 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754809
2025-08-08T21:32:45.997Z,1754688765.997 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006531
2025-08-08T21:32:46.054Z,1754688766.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.30 m.
2025-08-08T21:32:46.057Z,1754688766.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 159.300003 m,
      nav range: 156.694519 m,
      bearing: 98.214263 deg,
      approach rate: -0.429330 m/s,
      LOS rate: 0.141638 deg/s,
      cmd heading: 101.245465 deg,
      new cmd heading: 101.422956 deg.

2025-08-08T21:32:46.249Z,1754688766.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258576
2025-08-08T21:32:46.501Z,1754688766.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510605
2025-08-08T21:32:46.533Z,1754688766.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.30 m.
2025-08-08T21:32:46.535Z,1754688766.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 159.300003 m,
      nav range: 156.492126 m,
      bearing: 98.282047 deg,
      approach rate: -0.423086 m/s,
      LOS rate: 0.141882 deg/s,
      cmd heading: 101.422954 deg,
      new cmd heading: 101.626571 deg.

2025-08-08T21:32:46.754Z,1754688766.754 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763285
2025-08-08T21:32:46.884Z,1754688766.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.30 m.
2025-08-08T21:32:46.887Z,1754688766.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 159.300003 m,
      nav range: 156.346375 m,
      bearing: 98.329120 deg,
      approach rate: -0.414341 m/s,
      LOS rate: 0.133943 deg/s,
      cmd heading: 101.626569 deg,
      new cmd heading: 101.767919 deg.

2025-08-08T21:32:47.005Z,1754688767.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014544
2025-08-08T21:32:47.257Z,1754688767.257 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266547
2025-08-08T21:32:47.297Z,1754688767.297 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-08T21:32:47.302Z,1754688767.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.30 m.
2025-08-08T21:32:47.321Z,1754688767.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 159.300003 m,
      nav range: 156.162766 m,
      bearing: 98.389287 deg,
      approach rate: -0.440513 m/s,
      LOS rate: 0.144521 deg/s,
      cmd heading: 101.767920 deg,
      new cmd heading: 101.948631 deg.

2025-08-08T21:32:47.509Z,1754688767.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518467
2025-08-08T21:32:47.671Z,1754688767.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.30 m.
2025-08-08T21:32:47.674Z,1754688767.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 159.300003 m,
      nav range: 155.998749 m,
      bearing: 98.441168 deg,
      approach rate: -0.443481 m/s,
      LOS rate: 0.140428 deg/s,
      cmd heading: 101.948633 deg,
      new cmd heading: 102.104440 deg.

2025-08-08T21:32:47.761Z,1754688767.761 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771087
2025-08-08T21:32:48.013Z,1754688768.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022473
2025-08-08T21:32:48.078Z,1754688768.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.30 m.
2025-08-08T21:32:48.081Z,1754688768.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 159.300003 m,
      nav range: 155.821075 m,
      bearing: 98.495403 deg,
      approach rate: -0.436945 m/s,
      LOS rate: 0.133529 deg/s,
      cmd heading: 102.104443 deg,
      new cmd heading: 102.267332 deg.

2025-08-08T21:32:48.265Z,1754688768.265 [DAT](INFO): DAT read: Rx Time:21:32:47.4671

2025-08-08T21:32:48.265Z,1754688768.265 [DAT](INFO): Rx dataTimestamp_ set to:1754688768.265050
2025-08-08T21:32:48.266Z,1754688768.266 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275575
2025-08-08T21:32:48.500Z,1754688768.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 159.30 m.
2025-08-08T21:32:48.503Z,1754688768.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 159.300003 m,
      nav range: 155.636993 m,
      bearing: 98.555237 deg,
      approach rate: -0.436165 m/s,
      LOS rate: 0.141940 deg/s,
      cmd heading: 102.267330 deg,
      new cmd heading: 102.447044 deg.

2025-08-08T21:32:48.517Z,1754688768.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526536
2025-08-08T21:32:48.779Z,1754688768.779 [DAT](INFO): DAT read: 21:32:47.4671 LVL= 25888, 32753, 32754, 32755, AGC= 65, IDX= 421,-0.03, 0.146,-1.668,-1.015,-0.573, PHS= 0.822,-1.050,-0.486, RAW= 107.1,   8.6, CAL= 108.5,   9.7, ROT=  41.5,  -9.7

2025-08-08T21:32:48.780Z,1754688768.780 [DAT](INFO): got valid direction response:
 21:32:47.4671 LVL= 25888, 32753, 32754, 32755, AGC= 65, IDX= 421,-0.03, 0.146,-1.668,-1.015,-0.573, PHS= 0.822,-1.050,-0.486, RAW= 107.1,   8.6, CAL= 108.5,   9.7, ROT=  41.5,  -9.7

2025-08-08T21:32:48.782Z,1754688768.782 [DAT](INFO): DAT read: Bearing 220.3,  45.2 (Local)

2025-08-08T21:32:48.783Z,1754688768.783 [DAT](INFO): Local bearing/azimuth received:
 Bearing 220.3,  45.2 (Local)

2025-08-08T21:32:48.787Z,1754688768.787 [DAT](INFO): DAT read: Range 11 to 50 : 157.6 m  (Round-trip  210.2 ms) speed  0.3 m/s

2025-08-08T21:32:48.788Z,1754688768.788 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-08T21:32:48.790Z,1754688768.790 [DAT](INFO): direction in FSK: [0.738248,0.653147,0.168489]
2025-08-08T21:32:48.790Z,1754688768.790 [DAT](INFO): publishing direction and range info
2025-08-08T21:32:48.796Z,1754688768.796 [DAT](INFO): ****** received valid address query ******
2025-08-08T21:32:48.797Z,1754688768.797 [DAT](INFO): ****** received valid ping request ******
2025-08-08T21:32:48.797Z,1754688768.797 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-08T21:32:48.941Z,1754688768.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 157.600006 m,
      deltaT: 4.031227 s,
      deltaX: -1.699997 m,
      approachRate: -0.421707 m/s,
      rangeRepo size: 4

2025-08-08T21:32:48.943Z,1754688768.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 157.600006 m,
      bearing: 98.714466 deg,
      lat: 36.906052 deg,
      lon: -122.115845 deg,
      deltaT: 4.031227 s,
      deltaX: -1.699997 m,
      approachRate: -0.421707 m/s,
      posRepo size: 4

2025-08-08T21:32:48.944Z,1754688768.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.60 m.
2025-08-08T21:32:48.947Z,1754688768.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.600006 m,
      nav range: 153.718826 m,
      bearing: 98.714466 deg,
      approach rate: 2553.546875 m/s,
      LOS rate: 0.141940 deg/s,
      cmd heading: 102.447046 deg,
      new cmd heading: 102.634701 deg.

2025-08-08T21:32:49.022Z,1754688769.022 [DAT](INFO): DAT read: user:1177>

2025-08-08T21:32:49.023Z,1754688769.023 [DAT](INFO): DAT read: Tx time:21:32:48.8028

2025-08-08T21:32:49.023Z,1754688769.023 [DAT](INFO): Ping request sent.
2025-08-08T21:32:49.023Z,1754688769.023 [DAT](INFO): transmitted an acoustic signal
2025-08-08T21:32:49.024Z,1754688769.024 [DAT](INFO): publishing transmit ping time
2025-08-08T21:32:49.025Z,1754688769.025 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001203
2025-08-08T21:32:49.275Z,1754688769.275 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251094
2025-08-08T21:32:49.340Z,1754688769.340 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-08T21:32:49.343Z,1754688769.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.60 m.
2025-08-08T21:32:49.345Z,1754688769.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.600006 m,
      nav range: 153.554184 m,
      bearing: 98.768956 deg,
      approach rate: -0.409524 m/s,
      LOS rate: 0.135681 deg/s,
      cmd heading: 102.634698 deg,
      new cmd heading: 102.798342 deg.

2025-08-08T21:32:49.525Z,1754688769.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501416
2025-08-08T21:32:49.684Z,1754688769.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.60 m.
2025-08-08T21:32:49.687Z,1754688769.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.600006 m,
      nav range: 153.398071 m,
      bearing: 98.818841 deg,
      approach rate: -0.457229 m/s,
      LOS rate: 0.146256 deg/s,
      cmd heading: 102.798343 deg,
      new cmd heading: 102.948152 deg.

2025-08-08T21:32:49.778Z,1754688769.778 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754544
2025-08-08T21:32:50.029Z,1754688770.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005294
2025-08-08T21:32:50.100Z,1754688770.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.60 m.
2025-08-08T21:32:50.103Z,1754688770.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.600006 m,
      nav range: 153.215500 m,
      bearing: 98.875268 deg,
      approach rate: -0.438712 m/s,
      LOS rate: 0.135753 deg/s,
      cmd heading: 102.948149 deg,
      new cmd heading: 103.117630 deg.

2025-08-08T21:32:50.282Z,1754688770.282 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258364
2025-08-08T21:32:50.531Z,1754688770.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.60 m.
2025-08-08T21:32:50.533Z,1754688770.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509554
2025-08-08T21:32:50.536Z,1754688770.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.600006 m,
      nav range: 153.025803 m,
      bearing: 98.938193 deg,
      approach rate: -0.439830 m/s,
      LOS rate: 0.146078 deg/s,
      cmd heading: 103.117634 deg,
      new cmd heading: 103.306642 deg.

2025-08-08T21:32:50.786Z,1754688770.786 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762446
2025-08-08T21:32:50.921Z,1754688770.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.60 m.
2025-08-08T21:32:50.924Z,1754688770.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.600006 m,
      nav range: 152.854645 m,
      bearing: 98.995154 deg,
      approach rate: -0.439302 m/s,
      LOS rate: 0.146363 deg/s,
      cmd heading: 103.306639 deg,
      new cmd heading: 103.477713 deg.

2025-08-08T21:32:51.037Z,1754688771.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013379
2025-08-08T21:32:51.290Z,1754688771.290 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265892
2025-08-08T21:32:51.355Z,1754688771.355 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-08T21:32:51.358Z,1754688771.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.60 m.
2025-08-08T21:32:51.361Z,1754688771.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.600006 m,
      nav range: 152.655792 m,
      bearing: 99.055470 deg,
      approach rate: -0.455424 m/s,
      LOS rate: 0.138319 deg/s,
      cmd heading: 103.477714 deg,
      new cmd heading: 103.658897 deg.

2025-08-08T21:32:51.541Z,1754688771.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517286
2025-08-08T21:32:51.724Z,1754688771.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.60 m.
2025-08-08T21:32:51.727Z,1754688771.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.600006 m,
      nav range: 152.494720 m,
      bearing: 99.102692 deg,
      approach rate: -0.439156 m/s,
      LOS rate: 0.128885 deg/s,
      cmd heading: 103.658899 deg,
      new cmd heading: 103.800714 deg.

2025-08-08T21:32:51.794Z,1754688771.794 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770967
2025-08-08T21:32:52.045Z,1754688772.045 [DAT](INFO): DAT read: Rx Time:21:32:51.4148

2025-08-08T21:32:52.045Z,1754688772.045 [DAT](INFO): Rx dataTimestamp_ set to:1754688772.045071
2025-08-08T21:32:52.046Z,1754688772.046 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022490
2025-08-08T21:32:52.139Z,1754688772.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.60 m.
2025-08-08T21:32:52.146Z,1754688772.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.600006 m,
      nav range: 152.295258 m,
      bearing: 99.159155 deg,
      approach rate: -0.480885 m/s,
      LOS rate: 0.136303 deg/s,
      cmd heading: 103.800714 deg,
      new cmd heading: 103.970322 deg.

2025-08-08T21:32:52.298Z,1754688772.298 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274211
2025-08-08T21:32:52.552Z,1754688772.552 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528230
2025-08-08T21:32:52.606Z,1754688772.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 157.60 m.
2025-08-08T21:32:52.614Z,1754688772.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 157.600006 m,
      nav range: 152.088654 m,
      bearing: 99.215459 deg,
      approach rate: -0.448524 m/s,
      LOS rate: 0.122399 deg/s,
      cmd heading: 103.970321 deg,
      new cmd heading: 104.139464 deg.

2025-08-08T21:32:52.806Z,1754688772.806 [DAT](INFO): DAT read: 21:32:51.4148 LVL= 26080, 32753, 32754, 32755, AGC= 67, IDX= 414,-0.08,-1.225, 3.135,-2.263,-1.967, PHS= 0.844,-1.136,-0.340, RAW= 113.6,   7.4, CAL= 115.0,   8.4, ROT=  35.0,  -8.4

2025-08-08T21:32:52.807Z,1754688772.807 [DAT](INFO): got valid direction response:
 21:32:51.4148 LVL= 26080, 32753, 32754, 32755, AGC= 67, IDX= 414,-0.08,-1.225, 3.135,-2.263,-1.967, PHS= 0.844,-1.136,-0.340, RAW= 113.6,   7.4, CAL= 115.0,   8.4, ROT=  35.0,  -8.4

2025-08-08T21:32:52.809Z,1754688772.809 [DAT](INFO): DAT read: Bearing 228.5,  39.4 (Local)

2025-08-08T21:32:52.809Z,1754688772.809 [DAT](INFO): Local bearing/azimuth received:
 Bearing 228.5,  39.4 (Local)

2025-08-08T21:32:52.811Z,1754688772.811 [DAT](INFO): DAT read: Range 11 to 50 : 155.9 m  (Round-trip  207.9 ms) speed  0.4 m/s

2025-08-08T21:32:52.812Z,1754688772.812 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-08T21:32:52.814Z,1754688772.814 [DAT](INFO): direction in FSK: [0.810364,0.567423,0.146083]
2025-08-08T21:32:52.814Z,1754688772.814 [DAT](INFO): publishing direction and range info
2025-08-08T21:32:52.822Z,1754688772.822 [DAT](INFO): ****** received valid address query ******
2025-08-08T21:32:52.823Z,1754688772.823 [DAT](INFO): ****** received valid ping request ******
2025-08-08T21:32:52.823Z,1754688772.823 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-08T21:32:52.971Z,1754688772.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 155.899994 m,
      deltaT: 4.032013 s,
      deltaX: -1.700012 m,
      approachRate: -0.421629 m/s,
      rangeRepo size: 4

2025-08-08T21:32:52.978Z,1754688772.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 155.899994 m,
      bearing: 99.544734 deg,
      lat: 36.906046 deg,
      lon: -122.115850 deg,
      deltaT: 4.032013 s,
      deltaX: -1.700012 m,
      approachRate: -0.421629 m/s,
      posRepo size: 4

2025-08-08T21:32:52.979Z,1754688772.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.90 m.
2025-08-08T21:32:52.985Z,1754688772.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 155.899994 m,
      nav range: 151.606827 m,
      bearing: 99.544734 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.122399 deg/s,
      cmd heading: 104.139464 deg,
      new cmd heading: 104.275671 deg.

2025-08-08T21:32:53.054Z,1754688773.054 [DAT](INFO): DAT read: user:1178>

2025-08-08T21:32:53.055Z,1754688773.055 [DAT](INFO): DAT read: Tx time:21:32:52.8028

2025-08-08T21:32:53.055Z,1754688773.055 [DAT](INFO): Ping request sent.
2025-08-08T21:32:53.056Z,1754688773.056 [DAT](INFO): transmitted an acoustic signal
2025-08-08T21:32:53.056Z,1754688773.056 [DAT](INFO): publishing transmit ping time
2025-08-08T21:32:53.057Z,1754688773.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001660
2025-08-08T21:32:53.305Z,1754688773.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249316
2025-08-08T21:32:53.370Z,1754688773.370 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-08T21:32:53.377Z,1754688773.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.90 m.
2025-08-08T21:32:53.379Z,1754688773.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 155.899994 m,
      nav range: 151.403503 m,
      bearing: 99.596247 deg,
      approach rate: -0.501043 m/s,
      LOS rate: 0.127114 deg/s,
      cmd heading: 104.275672 deg,
      new cmd heading: 104.430420 deg.

2025-08-08T21:32:53.557Z,1754688773.557 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501187
2025-08-08T21:32:53.740Z,1754688773.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.90 m.
2025-08-08T21:32:53.743Z,1754688773.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 155.899994 m,
      nav range: 151.201370 m,
      bearing: 99.645538 deg,
      approach rate: -0.556681 m/s,
      LOS rate: 0.135930 deg/s,
      cmd heading: 104.430423 deg,
      new cmd heading: 104.578493 deg.

2025-08-08T21:32:53.811Z,1754688773.811 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755239
2025-08-08T21:32:54.061Z,1754688774.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005180
2025-08-08T21:32:54.154Z,1754688774.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.90 m.
2025-08-08T21:32:54.157Z,1754688774.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 155.899994 m,
      nav range: 150.987778 m,
      bearing: 99.695608 deg,
      approach rate: -0.515740 m/s,
      LOS rate: 0.121070 deg/s,
      cmd heading: 104.578495 deg,
      new cmd heading: 104.728917 deg.

2025-08-08T21:32:54.313Z,1754688774.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257321
2025-08-08T21:32:54.565Z,1754688774.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509248
2025-08-08T21:32:54.593Z,1754688774.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.90 m.
2025-08-08T21:32:54.596Z,1754688774.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 155.899994 m,
      nav range: 150.744339 m,
      bearing: 99.751945 deg,
      approach rate: -0.554064 m/s,
      LOS rate: 0.128428 deg/s,
      cmd heading: 104.728916 deg,
      new cmd heading: 104.898198 deg.

2025-08-08T21:32:54.818Z,1754688774.818 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762205
2025-08-08T21:32:54.953Z,1754688774.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.90 m.
2025-08-08T21:32:54.956Z,1754688774.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 155.899994 m,
      nav range: 150.546783 m,
      bearing: 99.793939 deg,
      approach rate: -0.548601 m/s,
      LOS rate: 0.116768 deg/s,
      cmd heading: 104.898196 deg,
      new cmd heading: 105.024343 deg.

2025-08-08T21:32:55.069Z,1754688775.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013240
2025-08-08T21:32:55.321Z,1754688775.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265241
2025-08-08T21:32:55.385Z,1754688775.385 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-08T21:32:55.387Z,1754688775.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.90 m.
2025-08-08T21:32:55.394Z,1754688775.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 155.899994 m,
      nav range: 150.307693 m,
      bearing: 99.841241 deg,
      approach rate: -0.550761 m/s,
      LOS rate: 0.109139 deg/s,
      cmd heading: 105.024342 deg,
      new cmd heading: 105.166476 deg.

2025-08-08T21:32:55.573Z,1754688775.573 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517214
2025-08-08T21:32:55.764Z,1754688775.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.90 m.
2025-08-08T21:32:55.769Z,1754688775.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 155.899994 m,
      nav range: 150.085373 m,
      bearing: 99.883317 deg,
      approach rate: -0.591955 m/s,
      LOS rate: 0.112196 deg/s,
      cmd heading: 105.166479 deg,
      new cmd heading: 105.292891 deg.

2025-08-08T21:32:55.825Z,1754688775.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769399
2025-08-08T21:32:56.078Z,1754688776.078 [DAT](INFO): DAT read: Rx Time:21:32:55.4123

2025-08-08T21:32:56.079Z,1754688776.079 [DAT](INFO): Rx dataTimestamp_ set to:1754688776.078328
2025-08-08T21:32:56.079Z,1754688776.079 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023548
2025-08-08T21:32:56.179Z,1754688776.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 155.90 m.
2025-08-08T21:32:56.198Z,1754688776.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 155.899994 m,
      nav range: 149.838715 m,
      bearing: 99.927897 deg,
      approach rate: -0.593342 m/s,
      LOS rate: 0.107415 deg/s,
      cmd heading: 105.292892 deg,
      new cmd heading: 105.426852 deg.

2025-08-08T21:32:56.329Z,1754688776.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273638
2025-08-08T21:32:56.603Z,1754688776.603 [DAT](INFO): DAT read: 21:32:55.4123 LVL= 32288, 32753, 32754, 32755, AGC= 63, IDX= 419, 0.02,-2.246, 2.156,-2.917,-2.833, PHS= 0.689,-1.250,-0.128, RAW= 125.2,   8.2, CAL= 125.8,   9.4, ROT=  24.2,  -9.4

2025-08-08T21:32:56.604Z,1754688776.604 [DAT](INFO): got valid direction response:
 21:32:55.4123 LVL= 32288, 32753, 32754, 32755, AGC= 63, IDX= 419, 0.02,-2.246, 2.156,-2.917,-2.833, PHS= 0.689,-1.250,-0.128, RAW= 125.2,   8.2, CAL= 125.8,   9.4, ROT=  24.2,  -9.4

2025-08-08T21:32:56.605Z,1754688776.605 [DAT](INFO): DAT read: Bearing 240.2,  28.9 (Local)

2025-08-08T21:32:56.605Z,1754688776.605 [DAT](INFO): Local bearing/azimuth received:
 Bearing 240.2,  28.9 (Local)

2025-08-08T21:32:56.607Z,1754688776.607 [DAT](INFO): DAT read: Range 11 to 50 : 153.9 m  (Round-trip  205.3 ms) speed  0.7 m/s

2025-08-08T21:32:56.616Z,1754688776.616 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-08T21:32:56.617Z,1754688776.617 [DAT](INFO): direction in FSK: [0.899872,0.404419,0.163326]
2025-08-08T21:32:56.617Z,1754688776.617 [DAT](INFO): publishing direction and range info
2025-08-08T21:32:56.661Z,1754688776.661 [DAT](INFO): ****** received valid address query ******
2025-08-08T21:32:56.662Z,1754688776.662 [DAT](INFO): ****** received valid ping request ******
2025-08-08T21:32:56.662Z,1754688776.662 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-08T21:32:56.748Z,1754688776.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 153.899994 m,
      deltaT: 3.781343 s,
      deltaX: -2.000000 m,
      approachRate: -0.528913 m/s,
      rangeRepo size: 4

2025-08-08T21:32:56.751Z,1754688776.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 153.899994 m,
      bearing: 98.459708 deg,
      lat: 36.906082 deg,
      lon: -122.115851 deg,
      deltaT: 3.781343 s,
      deltaX: -2.000000 m,
      approachRate: -0.528913 m/s,
      posRepo size: 4

2025-08-08T21:32:56.751Z,1754688776.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.90 m.
2025-08-08T21:32:56.770Z,1754688776.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 153.899994 m,
      nav range: 148.732285 m,
      bearing: 98.459708 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.107415 deg/s,
      cmd heading: 105.426852 deg,
      new cmd heading: 105.608865 deg.

2025-08-08T21:32:56.834Z,1754688776.834 [DAT](INFO): DAT read: user:1179>

2025-08-08T21:32:56.835Z,1754688776.835 [DAT](INFO): DAT read: Tx time:21:32:56.6528

2025-08-08T21:32:56.835Z,1754688776.835 [DAT](INFO): Ping request sent.
2025-08-08T21:32:56.835Z,1754688776.835 [DAT](INFO): transmitted an acoustic signal
2025-08-08T21:32:56.836Z,1754688776.836 [DAT](INFO): publishing transmit ping time
2025-08-08T21:32:56.837Z,1754688776.837 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001451
2025-08-08T21:32:57.085Z,1754688777.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249565
2025-08-08T21:32:57.106Z,1754688777.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.90 m.
2025-08-08T21:32:57.109Z,1754688777.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 153.899994 m,
      nav range: 148.491592 m,
      bearing: 98.492009 deg,
      approach rate: -0.664393 m/s,
      LOS rate: 0.089305 deg/s,
      cmd heading: 105.608863 deg,
      new cmd heading: 105.705922 deg.

2025-08-08T21:32:57.338Z,1754688777.338 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502433
2025-08-08T21:32:57.539Z,1754688777.539 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-08T21:32:57.542Z,1754688777.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.90 m.
2025-08-08T21:32:57.549Z,1754688777.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 153.899994 m,
      nav range: 148.237411 m,
      bearing: 98.521755 deg,
      approach rate: -0.582982 m/s,
      LOS rate: 0.068341 deg/s,
      cmd heading: 105.705920 deg,
      new cmd heading: 105.795311 deg.

2025-08-08T21:32:57.591Z,1754688777.591 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755808
2025-08-08T21:32:57.846Z,1754688777.846 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.010217
2025-08-08T21:32:57.977Z,1754688777.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.90 m.
2025-08-08T21:32:57.979Z,1754688777.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 153.899994 m,
      nav range: 147.954636 m,
      bearing: 98.552713 deg,
      approach rate: -0.650336 m/s,
      LOS rate: 0.071334 deg/s,
      cmd heading: 105.795314 deg,
      new cmd heading: 105.888364 deg.

2025-08-08T21:32:58.098Z,1754688778.098 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262211
2025-08-08T21:32:58.349Z,1754688778.349 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513550
2025-08-08T21:32:58.425Z,1754688778.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.90 m.
2025-08-08T21:32:58.428Z,1754688778.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 153.899994 m,
      nav range: 147.687454 m,
      bearing: 98.579368 deg,
      approach rate: -0.595546 m/s,
      LOS rate: 0.059523 deg/s,
      cmd heading: 105.888361 deg,
      new cmd heading: 105.968473 deg.

2025-08-08T21:32:58.601Z,1754688778.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766123
2025-08-08T21:32:58.854Z,1754688778.854 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018400
2025-08-08T21:32:58.905Z,1754688778.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.90 m.
2025-08-08T21:32:58.907Z,1754688778.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 153.899994 m,
      nav range: 147.401184 m,
      bearing: 98.605769 deg,
      approach rate: -0.597292 m/s,
      LOS rate: 0.055190 deg/s,
      cmd heading: 105.968473 deg,
      new cmd heading: 106.047827 deg.

2025-08-08T21:32:59.105Z,1754688779.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269474
2025-08-08T21:32:59.357Z,1754688779.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521344
2025-08-08T21:32:59.399Z,1754688779.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.90 m.
2025-08-08T21:32:59.401Z,1754688779.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 153.899994 m,
      nav range: 147.106094 m,
      bearing: 98.628564 deg,
      approach rate: -0.597282 m/s,
      LOS rate: 0.046231 deg/s,
      cmd heading: 106.047826 deg,
      new cmd heading: 106.116348 deg.

2025-08-08T21:32:59.610Z,1754688779.610 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774476
2025-08-08T21:32:59.861Z,1754688779.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025921
2025-08-08T21:32:59.907Z,1754688779.907 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-08T21:32:59.910Z,1754688779.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.90 m.
2025-08-08T21:32:59.912Z,1754688779.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 153.899994 m,
      nav range: 146.799591 m,
      bearing: 98.647628 deg,
      approach rate: -0.599889 m/s,
      LOS rate: 0.037391 deg/s,
      cmd heading: 106.116346 deg,
      new cmd heading: 106.173659 deg.

2025-08-08T21:33:00.115Z,1754688780.115 [DAT](INFO): DAT read: Rx Time:21:32:59.2590

2025-08-08T21:33:00.115Z,1754688780.115 [DAT](INFO): Rx dataTimestamp_ set to:1754688780.114820
2025-08-08T21:33:00.116Z,1754688780.116 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.280793
2025-08-08T21:33:00.308Z,1754688780.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 153.90 m.
2025-08-08T21:33:00.326Z,1754688780.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 153.899994 m,
      nav range: 146.584656 m,
      bearing: 98.659493 deg,
      approach rate: -0.546901 m/s,
      LOS rate: 0.030234 deg/s,
      cmd heading: 106.173658 deg,
      new cmd heading: 106.209305 deg.

2025-08-08T21:33:00.365Z,1754688780.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529705
2025-08-08T21:33:00.624Z,1754688780.624 [DAT](INFO): DAT read: 21:32:59.2590 LVL= 29856, 32753, 31970, 32755, AGC= 66, IDX= 402,-0.13, 1.028,-0.820, 0.556, 0.578, PHS= 0.552,-1.353,-0.067, RAW= 131.4,  10.3, CAL= 131.2,  11.5, ROT=  18.8, -11.5

2025-08-08T21:33:00.625Z,1754688780.625 [DAT](INFO): got valid direction response:
 21:32:59.2590 LVL= 29856, 32753, 31970, 32755, AGC= 66, IDX= 402,-0.13, 1.028,-0.820, 0.556, 0.578, PHS= 0.552,-1.353,-0.067, RAW= 131.4,  10.3, CAL= 131.2,  11.5, ROT=  18.8, -11.5

2025-08-08T21:33:00.626Z,1754688780.626 [DAT](INFO): DAT read: Bearing 252.5,  23.8 (Local)

2025-08-08T21:33:00.626Z,1754688780.626 [DAT](INFO): Local bearing/azimuth received:
 Bearing 252.5,  23.8 (Local)

2025-08-08T21:33:00.627Z,1754688780.627 [DAT](INFO): DAT read: Range 11 to 50 : 151.5 m  (Round-trip  202.1 ms) speed  0.5 m/s

2025-08-08T21:33:00.628Z,1754688780.628 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-08T21:33:00.629Z,1754688780.629 [DAT](INFO): direction in FSK: [0.927645,0.315796,0.199368]
2025-08-08T21:33:00.629Z,1754688780.629 [DAT](INFO): publishing direction and range info
2025-08-08T21:33:00.632Z,1754688780.632 [DAT](INFO): ****** received valid address query ******
2025-08-08T21:33:00.633Z,1754688780.633 [DAT](INFO): ****** received valid ping request ******
2025-08-08T21:33:00.633Z,1754688780.633 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-08T21:33:00.805Z,1754688780.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 151.500000 m,
      deltaT: 4.036116 s,
      deltaX: -2.399994 m,
      approachRate: -0.594630 m/s,
      rangeRepo size: 4

2025-08-08T21:33:00.807Z,1754688780.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 151.500000 m,
      bearing: 100.231875 deg,
      lat: 36.906046 deg,
      lon: -122.115852 deg,
      deltaT: 4.036116 s,
      deltaX: -2.399994 m,
      approachRate: -0.594630 m/s,
      posRepo size: 4

2025-08-08T21:33:00.812Z,1754688780.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.50 m.
2025-08-08T21:33:00.815Z,1754688780.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 151.500000 m,
      nav range: 146.896378 m,
      bearing: 100.231875 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.030234 deg/s,
      cmd heading: 106.209305 deg,
      new cmd heading: 106.254833 deg.

2025-08-08T21:33:00.869Z,1754688780.869 [DAT](INFO): DAT read: user:1180>

2025-08-08T21:33:00.870Z,1754688780.870 [DAT](INFO): DAT read: Tx time:21:33:00.6028

2025-08-08T21:33:00.870Z,1754688780.870 [DAT](INFO): Ping request sent.
2025-08-08T21:33:00.870Z,1754688780.870 [DAT](INFO): transmitted an acoustic signal
2025-08-08T21:33:00.870Z,1754688780.870 [DAT](INFO): publishing transmit ping time
2025-08-08T21:33:00.871Z,1754688780.871 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000753
2025-08-08T21:33:01.112Z,1754688781.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.50 m.
2025-08-08T21:33:01.115Z,1754688781.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 151.500000 m,
      nav range: 146.700455 m,
      bearing: 100.242191 deg,
      approach rate: -0.636105 m/s,
      LOS rate: 0.033540 deg/s,
      cmd heading: 106.254835 deg,
      new cmd heading: 106.285826 deg.

2025-08-08T21:33:01.121Z,1754688781.121 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250969
2025-08-08T21:33:01.373Z,1754688781.373 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502761
2025-08-08T21:33:01.543Z,1754688781.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.50 m.
2025-08-08T21:33:01.546Z,1754688781.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 151.500000 m,
      nav range: 146.458221 m,
      bearing: 100.253494 deg,
      approach rate: -0.562316 m/s,
      LOS rate: 0.026281 deg/s,
      cmd heading: 106.285824 deg,
      new cmd heading: 106.319788 deg.

2025-08-08T21:33:01.625Z,1754688781.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755022
2025-08-08T21:33:01.877Z,1754688781.877 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006790
2025-08-08T21:33:01.914Z,1754688781.914 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-08T21:33:01.916Z,1754688781.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.50 m.
2025-08-08T21:33:01.919Z,1754688781.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 151.500000 m,
      nav range: 146.231247 m,
      bearing: 100.262490 deg,
      approach rate: -0.609329 m/s,
      LOS rate: 0.024189 deg/s,
      cmd heading: 106.319790 deg,
      new cmd heading: 106.346821 deg.

2025-08-08T21:33:02.129Z,1754688782.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258783
2025-08-08T21:33:02.320Z,1754688782.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.50 m.
2025-08-08T21:33:02.326Z,1754688782.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 151.500000 m,
      nav range: 145.998581 m,
      bearing: 100.270103 deg,
      approach rate: -0.575382 m/s,
      LOS rate: 0.018857 deg/s,
      cmd heading: 106.346824 deg,
      new cmd heading: 106.369699 deg.

2025-08-08T21:33:02.384Z,1754688782.384 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513005
2025-08-08T21:33:02.634Z,1754688782.634 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764034
2025-08-08T21:33:02.742Z,1754688782.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.50 m.
2025-08-08T21:33:02.748Z,1754688782.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 151.500000 m,
      nav range: 145.738525 m,
      bearing: 100.279948 deg,
      approach rate: -0.616426 m/s,
      LOS rate: 0.023377 deg/s,
      cmd heading: 106.369698 deg,
      new cmd heading: 106.399285 deg.

2025-08-08T21:33:02.885Z,1754688782.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015424
2025-08-08T21:33:03.122Z,1754688783.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.50 m.
2025-08-08T21:33:03.125Z,1754688783.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 151.500000 m,
      nav range: 145.508316 m,
      bearing: 100.287143 deg,
      approach rate: -0.606205 m/s,
      LOS rate: 0.018976 deg/s,
      cmd heading: 106.399287 deg,
      new cmd heading: 106.420905 deg.

2025-08-08T21:33:03.137Z,1754688783.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266899
2025-08-08T21:33:03.390Z,1754688783.390 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519750
2025-08-08T21:33:03.554Z,1754688783.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.50 m.
2025-08-08T21:33:03.557Z,1754688783.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 151.500000 m,
      nav range: 145.246078 m,
      bearing: 100.294662 deg,
      approach rate: -0.606390 m/s,
      LOS rate: 0.017418 deg/s,
      cmd heading: 106.420904 deg,
      new cmd heading: 106.443501 deg.

2025-08-08T21:33:03.641Z,1754688783.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770754
2025-08-08T21:33:03.893Z,1754688783.893 [DAT](INFO): DAT read: Rx Time:21:33:03.2059

2025-08-08T21:33:03.893Z,1754688783.893 [DAT](INFO): Rx dataTimestamp_ set to:1754688783.893030
2025-08-08T21:33:03.894Z,1754688783.894 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023867
2025-08-08T21:33:03.962Z,1754688783.962 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-08T21:33:03.965Z,1754688783.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.50 m.
2025-08-08T21:33:03.967Z,1754688783.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 151.500000 m,
      nav range: 144.997208 m,
      bearing: 100.301823 deg,
      approach rate: -0.606117 m/s,
      LOS rate: 0.017471 deg/s,
      cmd heading: 106.443499 deg,
      new cmd heading: 106.465020 deg.

2025-08-08T21:33:04.145Z,1754688784.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274833
2025-08-08T21:33:04.419Z,1754688784.419 [DAT](INFO): DAT read: 21:33:03.2059 LVL= 25840, 32753, 32466, 32755, AGC= 69, IDX= 402,-0.08,-1.583, 2.919,-1.687,-1.960, PHS= 0.480,-1.358, 0.229, RAW= 142.8,   7.6, CAL= 142.4,   8.3, ROT=   7.6,  -8.3

2025-08-08T21:33:04.429Z,1754688784.429 [DAT](INFO): got valid direction response:
 21:33:03.2059 LVL= 25840, 32753, 32466, 32755, AGC= 69, IDX= 402,-0.08,-1.583, 2.919,-1.687,-1.960, PHS= 0.480,-1.358, 0.229, RAW= 142.8,   7.6, CAL= 142.4,   8.3, ROT=   7.6,  -8.3

2025-08-08T21:33:04.430Z,1754688784.430 [DAT](INFO): DAT read: Bearing 259.7,  13.3 (Local)

2025-08-08T21:33:04.431Z,1754688784.431 [DAT](INFO): Local bearing/azimuth received:
 Bearing 259.7,  13.3 (Local)

2025-08-08T21:33:04.444Z,1754688784.444 [DAT](INFO): DAT read: Range 11 to 50 : 149.2 m  (Round-trip  199.0 ms) speed  0.4 m/s

2025-08-08T21:33:04.445Z,1754688784.445 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-08T21:33:04.446Z,1754688784.446 [DAT](INFO): direction in FSK: [0.980833,0.130871,0.144356]
2025-08-08T21:33:04.446Z,1754688784.446 [DAT](INFO): publishing direction and range info
2025-08-08T21:33:04.477Z,1754688784.477 [DAT](INFO): ****** received valid address query ******
2025-08-08T21:33:04.478Z,1754688784.478 [DAT](INFO): ****** received valid ping request ******
2025-08-08T21:33:04.478Z,1754688784.478 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-08T21:33:04.488Z,1754688784.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 149.199997 m,
      deltaT: 3.779891 s,
      deltaX: -2.300003 m,
      approachRate: -0.608484 m/s,
      rangeRepo size: 4

2025-08-08T21:33:04.490Z,1754688784.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 149.199997 m,
      bearing: 100.310002 deg,
      lat: 36.906046 deg,
      lon: -122.115852 deg,
      deltaT: 3.779891 s,
      deltaX: -2.300003 m,
      approachRate: -0.608484 m/s,
      posRepo size: 4

2025-08-08T21:33:04.491Z,1754688784.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.20 m.
2025-08-08T21:33:04.494Z,1754688784.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 149.199997 m,
      nav range: 144.714005 m,
      bearing: 100.310002 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.017471 deg/s,
      cmd heading: 106.465020 deg,
      new cmd heading: 106.492196 deg.

2025-08-08T21:33:04.649Z,1754688784.649 [DAT](INFO): DAT read: user:1181>

2025-08-08T21:33:04.650Z,1754688784.650 [DAT](INFO): DAT read: Tx time:21:33:04.4528

2025-08-08T21:33:04.650Z,1754688784.650 [DAT](INFO): Ping request sent.
2025-08-08T21:33:04.650Z,1754688784.650 [DAT](INFO): transmitted an acoustic signal
2025-08-08T21:33:04.650Z,1754688784.650 [DAT](INFO): publishing transmit ping time
2025-08-08T21:33:04.651Z,1754688784.651 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000731
2025-08-08T21:33:04.890Z,1754688784.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.20 m.
2025-08-08T21:33:04.901Z,1754688784.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250760
2025-08-08T21:33:04.901Z,1754688784.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 149.199997 m,
      nav range: 144.434525 m,
      bearing: 100.313991 deg,
      approach rate: -0.687012 m/s,
      LOS rate: 0.009826 deg/s,
      cmd heading: 106.492198 deg,
      new cmd heading: 106.504189 deg.

2025-08-08T21:33:05.153Z,1754688785.153 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503037
2025-08-08T21:33:05.252Z,1754688785.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.20 m.
2025-08-08T21:33:05.262Z,1754688785.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 149.199997 m,
      nav range: 144.213104 m,
      bearing: 100.315871 deg,
      approach rate: -0.633923 m/s,
      LOS rate: 0.005389 deg/s,
      cmd heading: 106.504192 deg,
      new cmd heading: 106.509838 deg.

2025-08-08T21:33:05.407Z,1754688785.407 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756344
2025-08-08T21:33:05.657Z,1754688785.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006724
2025-08-08T21:33:05.671Z,1754688785.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.20 m.
2025-08-08T21:33:05.673Z,1754688785.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 149.199997 m,
      nav range: 143.940079 m,
      bearing: 100.321574 deg,
      approach rate: -0.633133 m/s,
      LOS rate: 0.013250 deg/s,
      cmd heading: 106.509840 deg,
      new cmd heading: 106.526982 deg.

2025-08-08T21:33:05.909Z,1754688785.909 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258547
2025-08-08T21:33:06.043Z,1754688786.043 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-08T21:33:06.061Z,1754688786.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.20 m.
2025-08-08T21:33:06.064Z,1754688786.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 149.199997 m,
      nav range: 143.703369 m,
      bearing: 100.324002 deg,
      approach rate: -0.606403 m/s,
      LOS rate: 0.006232 deg/s,
      cmd heading: 106.526984 deg,
      new cmd heading: 106.534282 deg.

2025-08-08T21:33:06.161Z,1754688786.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510563
2025-08-08T21:33:06.415Z,1754688786.415 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764675
2025-08-08T21:33:06.517Z,1754688786.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.20 m.
2025-08-08T21:33:06.519Z,1754688786.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 149.199997 m,
      nav range: 143.396973 m,
      bearing: 100.328295 deg,
      approach rate: -0.672208 m/s,
      LOS rate: 0.009437 deg/s,
      cmd heading: 106.534279 deg,
      new cmd heading: 106.547183 deg.

2025-08-08T21:33:06.665Z,1754688786.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014957
2025-08-08T21:33:06.879Z,1754688786.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.20 m.
2025-08-08T21:33:06.886Z,1754688786.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 149.199997 m,
      nav range: 143.175888 m,
      bearing: 100.329245 deg,
      approach rate: -0.610053 m/s,
      LOS rate: 0.002626 deg/s,
      cmd heading: 106.547181 deg,
      new cmd heading: 106.550036 deg.

2025-08-08T21:33:06.917Z,1754688786.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266852
2025-08-08T21:33:07.169Z,1754688787.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518582
2025-08-08T21:33:07.277Z,1754688787.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.20 m.
2025-08-08T21:33:07.279Z,1754688787.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 149.199997 m,
      nav range: 142.915421 m,
      bearing: 100.329187 deg,
      approach rate: -0.655066 m/s,
      LOS rate: -0.000146 deg/s,
      cmd heading: 106.550036 deg,
      new cmd heading: 106.549862 deg.

2025-08-08T21:33:07.425Z,1754688787.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774011
2025-08-08T21:33:07.673Z,1754688787.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022562
2025-08-08T21:33:07.696Z,1754688787.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.20 m.
2025-08-08T21:33:07.699Z,1754688787.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 149.199997 m,
      nav range: 142.637405 m,
      bearing: 100.327965 deg,
      approach rate: -0.670103 m/s,
      LOS rate: -0.002952 deg/s,
      cmd heading: 106.549865 deg,
      new cmd heading: 106.546191 deg.

2025-08-08T21:33:07.925Z,1754688787.925 [DAT](INFO): DAT read: Rx Time:21:33:07.0527

2025-08-08T21:33:07.925Z,1754688787.925 [DAT](INFO): Rx dataTimestamp_ set to:1754688787.925071
2025-08-08T21:33:07.926Z,1754688787.926 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275677
2025-08-08T21:33:08.094Z,1754688788.094 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-08T21:33:08.096Z,1754688788.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 149.20 m.
2025-08-08T21:33:08.099Z,1754688788.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 149.199997 m,
      nav range: 142.353546 m,
      bearing: 100.325601 deg,
      approach rate: -0.702438 m/s,
      LOS rate: -0.005860 deg/s,
      cmd heading: 106.546190 deg,
      new cmd heading: 106.539087 deg.

2025-08-08T21:33:08.181Z,1754688788.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530447
2025-08-08T21:33:08.448Z,1754688788.448 [DAT](INFO): DAT read: 21:33:07.0527 LVL= 30384, 32753, 27490, 25827, AGC= 64, IDX= 401, 0.14, 2.417, 0.686, 2.579, 2.111, PHS= 0.408,-1.380, 0.424, RAW= 150.5,   6.2, CAL= 149.8,   6.5, ROT=   0.2,  -6.5

2025-08-08T21:33:08.451Z,1754688788.451 [DAT](INFO): got valid direction response:
 21:33:07.0527 LVL= 30384, 32753, 27490, 25827, AGC= 64, IDX= 401, 0.14, 2.417, 0.686, 2.579, 2.111, PHS= 0.408,-1.380, 0.424, RAW= 150.5,   6.2, CAL= 149.8,   6.5, ROT=   0.2,  -6.5

2025-08-08T21:33:08.454Z,1754688788.454 [DAT](INFO): DAT read: Bearing 265.0,   6.7 (Local)

2025-08-08T21:33:08.455Z,1754688788.455 [DAT](INFO): Local bearing/azimuth received:
 Bearing 265.0,   6.7 (Local)

2025-08-08T21:33:08.459Z,1754688788.459 [DAT](INFO): DAT read: Range 11 to 50 : 146.8 m  (Round-trip  195.8 ms) speed  0.4 m/s

2025-08-08T21:33:08.462Z,1754688788.462 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-08T21:33:08.480Z,1754688788.480 [DAT](INFO): direction in FSK: [0.993566,0.003468,0.113203]
2025-08-08T21:33:08.480Z,1754688788.480 [DAT](INFO): publishing direction and range info
2025-08-08T21:33:08.484Z,1754688788.484 [DAT](INFO): ****** received valid address query ******
2025-08-08T21:33:08.488Z,1754688788.488 [DAT](INFO): ****** received valid ping request ******
2025-08-08T21:33:08.488Z,1754688788.488 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-08T21:33:08.612Z,1754688788.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 146.800003 m,
      deltaT: 4.031788 s,
      deltaX: -2.399994 m,
      approachRate: -0.595268 m/s,
      rangeRepo size: 4

2025-08-08T21:33:08.614Z,1754688788.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 146.800003 m,
      bearing: 100.832565 deg,
      lat: 36.906034 deg,
      lon: -122.115852 deg,
      deltaT: 4.031788 s,
      deltaX: -2.399994 m,
      approachRate: -0.595268 m/s,
      posRepo size: 4

2025-08-08T21:33:08.615Z,1754688788.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.80 m.
2025-08-08T21:33:08.630Z,1754688788.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 146.800003 m,
      nav range: 142.265900 m,
      bearing: 100.832565 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.005860 deg/s,
      cmd heading: 106.539087 deg,
      new cmd heading: 106.530095 deg.

2025-08-08T21:33:08.681Z,1754688788.681 [DAT](INFO): DAT read: user:1182>

2025-08-08T21:33:08.682Z,1754688788.682 [DAT](INFO): DAT read: Tx time:21:33:08.5028

2025-08-08T21:33:08.682Z,1754688788.682 [DAT](INFO): Ping request sent.
2025-08-08T21:33:08.682Z,1754688788.682 [DAT](INFO): transmitted an acoustic signal
2025-08-08T21:33:08.683Z,1754688788.683 [DAT](INFO): publishing transmit ping time
2025-08-08T21:33:08.684Z,1754688788.684 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001098
2025-08-08T21:33:08.933Z,1754688788.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250453
2025-08-08T21:33:09.000Z,1754688789.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.80 m.
2025-08-08T21:33:09.003Z,1754688789.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 146.800003 m,
      nav range: 141.993103 m,
      bearing: 100.831902 deg,
      approach rate: -0.716935 m/s,
      LOS rate: -0.001745 deg/s,
      cmd heading: 106.530098 deg,
      new cmd heading: 106.528107 deg.

2025-08-08T21:33:09.185Z,1754688789.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502644
2025-08-08T21:33:09.376Z,1754688789.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.80 m.
2025-08-08T21:33:09.379Z,1754688789.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 146.800003 m,
      nav range: 141.737076 m,
      bearing: 100.829539 deg,
      approach rate: -0.659935 m/s,
      LOS rate: -0.006103 deg/s,
      cmd heading: 106.528104 deg,
      new cmd heading: 106.521001 deg.

2025-08-08T21:33:09.440Z,1754688789.440 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756937
2025-08-08T21:33:09.689Z,1754688789.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006364
2025-08-08T21:33:09.809Z,1754688789.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.80 m.
2025-08-08T21:33:09.811Z,1754688789.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 146.800003 m,
      nav range: 141.445435 m,
      bearing: 100.825856 deg,
      approach rate: -0.674952 m/s,
      LOS rate: -0.008542 deg/s,
      cmd heading: 106.521001 deg,
      new cmd heading: 106.509929 deg.

2025-08-08T21:33:09.941Z,1754688789.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258514
2025-08-08T21:33:10.193Z,1754688790.193 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510404
2025-08-08T21:33:10.275Z,1754688790.275 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-08T21:33:10.281Z,1754688790.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.80 m.
2025-08-08T21:33:10.288Z,1754688790.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 146.800003 m,
      nav range: 141.146606 m,
      bearing: 100.821218 deg,
      approach rate: -0.631307 m/s,
      LOS rate: -0.009818 deg/s,
      cmd heading: 106.509929 deg,
      new cmd heading: 106.495987 deg.

2025-08-08T21:33:10.448Z,1754688790.448 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764776
2025-08-08T21:33:10.615Z,1754688790.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.80 m.
2025-08-08T21:33:10.622Z,1754688790.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 146.800003 m,
      nav range: 140.920670 m,
      bearing: 100.815662 deg,
      approach rate: -0.677553 m/s,
      LOS rate: -0.016688 deg/s,
      cmd heading: 106.495989 deg,
      new cmd heading: 106.479294 deg.

2025-08-08T21:33:10.698Z,1754688790.698 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015171
2025-08-08T21:33:10.949Z,1754688790.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266330
2025-08-08T21:33:10.989Z,1754688790.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.80 m.
2025-08-08T21:33:10.992Z,1754688790.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 146.800003 m,
      nav range: 140.664413 m,
      bearing: 100.808705 deg,
      approach rate: -0.684454 m/s,
      LOS rate: -0.018616 deg/s,
      cmd heading: 106.479296 deg,
      new cmd heading: 106.458386 deg.

2025-08-08T21:33:11.201Z,1754688791.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519044
2025-08-08T21:33:11.409Z,1754688791.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.80 m.
2025-08-08T21:33:11.412Z,1754688791.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 146.800003 m,
      nav range: 140.388306 m,
      bearing: 100.800608 deg,
      approach rate: -0.657263 m/s,
      LOS rate: -0.019314 deg/s,
      cmd heading: 106.458388 deg,
      new cmd heading: 106.434048 deg.

2025-08-08T21:33:11.457Z,1754688791.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774114
2025-08-08T21:33:11.705Z,1754688791.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022451
2025-08-08T21:33:11.857Z,1754688791.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.80 m.
2025-08-08T21:33:11.866Z,1754688791.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 146.800003 m,
      nav range: 140.113541 m,
      bearing: 100.792344 deg,
      approach rate: -0.620325 m/s,
      LOS rate: -0.018694 deg/s,
      cmd heading: 106.434046 deg,
      new cmd heading: 106.409205 deg.

2025-08-08T21:33:11.957Z,1754688791.957 [DAT](INFO): DAT read: Rx Time:21:33:11.0988

2025-08-08T21:33:11.957Z,1754688791.957 [DAT](INFO): Rx dataTimestamp_ set to:1754688791.957022
2025-08-08T21:33:11.958Z,1754688791.958 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275454
2025-08-08T21:33:12.209Z,1754688792.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526386
2025-08-08T21:33:12.378Z,1754688792.378 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-08T21:33:12.381Z,1754688792.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.80 m.
2025-08-08T21:33:12.383Z,1754688792.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 146.800003 m,
      nav range: 139.752472 m,
      bearing: 100.781434 deg,
      approach rate: -0.682821 m/s,
      LOS rate: -0.020684 deg/s,
      cmd heading: 106.409204 deg,
      new cmd heading: 106.376392 deg.

2025-08-08T21:33:12.471Z,1754688792.471 [DAT](INFO): DAT read: 21:33:11.0988 LVL= 32752, 32753, 28050, 32755, AGC= 67, IDX= 409, 0.31, 2.788, 1.173, 3.046, 2.532, PHS= 0.358,-1.314, 0.470, RAW= 153.2,   5.7, CAL= 152.4,   5.7, ROT= 357.6,  -5.7

2025-08-08T21:33:12.474Z,1754688792.474 [DAT](INFO): got valid direction response:
 21:33:11.0988 LVL= 32752, 32753, 28050, 32755, AGC= 67, IDX= 409, 0.31, 2.788, 1.173, 3.046, 2.532, PHS= 0.358,-1.314, 0.470, RAW= 153.2,   5.7, CAL= 152.4,   5.7, ROT= 357.6,  -5.7

2025-08-08T21:33:12.479Z,1754688792.479 [DAT](INFO): DAT read: Bearing 268.1,   4.9 (Local)

2025-08-08T21:33:12.480Z,1754688792.480 [DAT](INFO): Local bearing/azimuth received:
 Bearing 268.1,   4.9 (Local)

2025-08-08T21:33:12.495Z,1754688792.495 [DAT](INFO): DAT read: Range 11 to 50 : 143.8 m  (Round-trip  191.8 ms) speed  0.4 m/s

2025-08-08T21:33:12.507Z,1754688792.507 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-08T21:33:12.515Z,1754688792.515 [DAT](INFO): direction in FSK: [0.994183,-0.041668,0.099320]
2025-08-08T21:33:12.520Z,1754688792.520 [DAT](INFO): publishing direction and range info
2025-08-08T21:33:12.544Z,1754688792.544 [DAT](INFO): ****** received valid address query ******
2025-08-08T21:33:12.545Z,1754688792.545 [DAT](INFO): ****** received valid ping request ******
2025-08-08T21:33:12.545Z,1754688792.545 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-08T21:33:12.713Z,1754688792.713 [DAT](INFO): DAT read: user:1183>

2025-08-08T21:33:12.713Z,1754688792.713 [DAT](INFO): DAT read: Tx time:21:33:12.5528

2025-08-08T21:33:12.714Z,1754688792.714 [DAT](INFO): Ping request sent.
2025-08-08T21:33:12.714Z,1754688792.714 [DAT](INFO): transmitted an acoustic signal
2025-08-08T21:33:12.714Z,1754688792.714 [DAT](INFO): publishing transmit ping time
2025-08-08T21:33:12.715Z,1754688792.715 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000752
2025-08-08T21:33:12.935Z,1754688792.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 143.800003 m,
      deltaT: 4.033114 s,
      deltaX: -3.000000 m,
      approachRate: -0.743842 m/s,
      rangeRepo size: 4

2025-08-08T21:33:12.953Z,1754688792.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 143.800003 m,
      bearing: 102.276074 deg,
      lat: 36.906001 deg,
      lon: -122.115853 deg,
      deltaT: 4.033114 s,
      deltaX: -3.000000 m,
      approachRate: -0.743842 m/s,
      posRepo size: 4

2025-08-08T21:33:12.954Z,1754688792.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.80 m.
2025-08-08T21:33:12.961Z,1754688792.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 143.800003 m,
      nav range: 140.045212 m,
      bearing: 102.276074 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.020684 deg/s,
      cmd heading: 106.376392 deg,
      new cmd heading: 106.342063 deg.

2025-08-08T21:33:12.965Z,1754688792.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251000
2025-08-08T21:33:13.217Z,1754688793.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502991
2025-08-08T21:33:13.453Z,1754688793.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.80 m.
2025-08-08T21:33:13.455Z,1754688793.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 143.800003 m,
      nav range: 139.718597 m,
      bearing: 102.271108 deg,
      approach rate: -0.629550 m/s,
      LOS rate: -0.009595 deg/s,
      cmd heading: 106.342063 deg,
      new cmd heading: 106.327130 deg.

2025-08-08T21:33:13.469Z,1754688793.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754995
2025-08-08T21:33:13.722Z,1754688793.722 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007734
2025-08-08T21:33:13.895Z,1754688793.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.80 m.
2025-08-08T21:33:13.898Z,1754688793.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 143.800003 m,
      nav range: 139.435730 m,
      bearing: 102.261069 deg,
      approach rate: -0.640067 m/s,
      LOS rate: -0.022762 deg/s,
      cmd heading: 106.327133 deg,
      new cmd heading: 106.296954 deg.

2025-08-08T21:33:13.974Z,1754688793.974 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259878
2025-08-08T21:33:14.227Z,1754688794.227 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512557
2025-08-08T21:33:14.303Z,1754688794.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.80 m.
2025-08-08T21:33:14.306Z,1754688794.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 143.800003 m,
      nav range: 139.176880 m,
      bearing: 102.251284 deg,
      approach rate: -0.633927 m/s,
      LOS rate: -0.024007 deg/s,
      cmd heading: 106.296957 deg,
      new cmd heading: 106.267549 deg.

2025-08-08T21:33:14.477Z,1754688794.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762881
2025-08-08T21:33:14.688Z,1754688794.688 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-08T21:33:14.690Z,1754688794.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.80 m.
2025-08-08T21:33:14.693Z,1754688794.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 143.800003 m,
      nav range: 138.932663 m,
      bearing: 102.241175 deg,
      approach rate: -0.631149 m/s,
      LOS rate: -0.026172 deg/s,
      cmd heading: 106.267546 deg,
      new cmd heading: 106.237165 deg.

2025-08-08T21:33:14.730Z,1754688794.730 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016101
2025-08-08T21:33:14.981Z,1754688794.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266922
2025-08-08T21:33:15.065Z,1754688795.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.80 m.
2025-08-08T21:33:15.067Z,1754688795.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 143.800003 m,
      nav range: 138.695770 m,
      bearing: 102.231159 deg,
      approach rate: -0.632280 m/s,
      LOS rate: -0.026780 deg/s,
      cmd heading: 106.237165 deg,
      new cmd heading: 106.207065 deg.

2025-08-08T21:33:15.233Z,1754688795.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519160
2025-08-08T21:33:15.479Z,1754688795.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.80 m.
2025-08-08T21:33:15.481Z,1754688795.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 143.800003 m,
      nav range: 138.434601 m,
      bearing: 102.219919 deg,
      approach rate: -0.630946 m/s,
      LOS rate: -0.027204 deg/s,
      cmd heading: 106.207065 deg,
      new cmd heading: 106.173283 deg.

2025-08-08T21:33:15.485Z,1754688795.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771125
2025-08-08T21:33:15.738Z,1754688795.738 [DAT](INFO): DAT read: Rx Time:21:33:15.1456

2025-08-08T21:33:15.738Z,1754688795.738 [DAT](INFO): Rx dataTimestamp_ set to:1754688795.738155
2025-08-08T21:33:15.740Z,1754688795.740 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025469
2025-08-08T21:33:15.904Z,1754688795.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.80 m.
2025-08-08T21:33:15.907Z,1754688795.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 143.800003 m,
      nav range: 138.160568 m,
      bearing: 102.207241 deg,
      approach rate: -0.644079 m/s,
      LOS rate: -0.029857 deg/s,
      cmd heading: 106.173283 deg,
      new cmd heading: 106.135174 deg.

2025-08-08T21:33:15.990Z,1754688795.990 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275677
2025-08-08T21:33:16.242Z,1754688796.242 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528308
2025-08-08T21:33:16.346Z,1754688796.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.80 m.
2025-08-08T21:33:16.353Z,1754688796.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 143.800003 m,
      nav range: 137.878799 m,
      bearing: 102.194038 deg,
      approach rate: -0.637749 m/s,
      LOS rate: -0.029945 deg/s,
      cmd heading: 106.135177 deg,
      new cmd heading: 106.095486 deg.

2025-08-08T21:33:16.498Z,1754688796.498 [DAT](INFO): DAT read: 21:33:15.1456 LVL= 25952, 30561, 23634, 32755, AGC= 61, IDX= 408, 0.03,-1.345,-2.921,-1.101,-1.600, PHS= 0.357,-1.276, 0.454, RAW= 152.9,   5.6, CAL= 152.1,   5.6, ROT= 357.9,  -5.6

2025-08-08T21:33:16.499Z,1754688796.499 [DAT](INFO): got valid direction response:
 21:33:15.1456 LVL= 25952, 30561, 23634, 32755, AGC= 61, IDX= 408, 0.03,-1.345,-2.921,-1.101,-1.600, PHS= 0.357,-1.276, 0.454, RAW= 152.9,   5.6, CAL= 152.1,   5.6, ROT= 357.9,  -5.6

2025-08-08T21:33:16.500Z,1754688796.500 [DAT](INFO): DAT read: Bearing 269.8,   6.7 (Local)

2025-08-08T21:33:16.500Z,1754688796.500 [DAT](INFO): Local bearing/azimuth received:
 Bearing 269.8,   6.7 (Local)

2025-08-08T21:33:16.502Z,1754688796.502 [DAT](INFO): DAT read: Range 11 to 50 : 141.4 m  (Round-trip  188.6 ms) speed  0.5 m/s

2025-08-08T21:33:16.502Z,1754688796.502 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-08T21:33:16.503Z,1754688796.503 [DAT](INFO): direction in FSK: [0.994559,-0.036469,0.097583]
2025-08-08T21:33:16.504Z,1754688796.504 [DAT](INFO): publishing direction and range info
2025-08-08T21:33:16.507Z,1754688796.507 [DAT](INFO): ****** received valid address query ******
2025-08-08T21:33:16.507Z,1754688796.507 [DAT](INFO): ****** received valid ping request ******
2025-08-08T21:33:16.507Z,1754688796.507 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-08T21:33:16.746Z,1754688796.746 [DAT](INFO): DAT read: user:1184>

2025-08-08T21:33:16.747Z,1754688796.747 [DAT](INFO): DAT read: Tx time:21:33:16.5028

2025-08-08T21:33:16.748Z,1754688796.748 [DAT](INFO): Ping request sent.
2025-08-08T21:33:16.749Z,1754688796.749 [DAT](INFO): transmitted an acoustic signal
2025-08-08T21:33:16.749Z,1754688796.749 [DAT](INFO): publishing transmit ping time
2025-08-08T21:33:16.750Z,1754688796.750 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002378
2025-08-08T21:33:16.771Z,1754688796.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 141.399994 m,
      deltaT: 4.029587 s,
      deltaX: -2.400009 m,
      approachRate: -0.595597 m/s,
      rangeRepo size: 4

2025-08-08T21:33:16.794Z,1754688796.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 141.399994 m,
      bearing: 102.469205 deg,
      lat: 36.905995 deg,
      lon: -122.115855 deg,
      deltaT: 4.029587 s,
      deltaX: -2.400009 m,
      approachRate: -0.595597 m/s,
      posRepo size: 4

2025-08-08T21:33:16.795Z,1754688796.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.40 m.
2025-08-08T21:33:16.801Z,1754688796.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 141.399994 m,
      nav range: 137.559570 m,
      bearing: 102.469205 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.029945 deg/s,
      cmd heading: 106.095487 deg,
      new cmd heading: 106.057320 deg.

2025-08-08T21:33:16.997Z,1754688796.997 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249377
2025-08-08T21:33:17.124Z,1754688797.124 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-08T21:33:17.126Z,1754688797.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.40 m.
2025-08-08T21:33:17.129Z,1754688797.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 141.399994 m,
      nav range: 137.336166 m,
      bearing: 102.457613 deg,
      approach rate: -0.628434 m/s,
      LOS rate: -0.032663 deg/s,
      cmd heading: 106.057320 deg,
      new cmd heading: 106.022485 deg.

2025-08-08T21:33:17.249Z,1754688797.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501872
2025-08-08T21:33:17.501Z,1754688797.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753601
2025-08-08T21:33:17.514Z,1754688797.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.40 m.
2025-08-08T21:33:17.519Z,1754688797.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 141.399994 m,
      nav range: 137.074066 m,
      bearing: 102.443840 deg,
      approach rate: -0.675755 m/s,
      LOS rate: -0.035576 deg/s,
      cmd heading: 106.022486 deg,
      new cmd heading: 105.981090 deg.

2025-08-08T21:33:17.753Z,1754688797.753 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005294
2025-08-08T21:33:17.953Z,1754688797.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.40 m.
2025-08-08T21:33:17.956Z,1754688797.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 141.399994 m,
      nav range: 136.780579 m,
      bearing: 102.428536 deg,
      approach rate: -0.668881 m/s,
      LOS rate: -0.034954 deg/s,
      cmd heading: 105.981088 deg,
      new cmd heading: 105.935078 deg.

2025-08-08T21:33:18.005Z,1754688798.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257362
2025-08-08T21:33:18.257Z,1754688798.257 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509401
2025-08-08T21:33:18.328Z,1754688798.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.40 m.
2025-08-08T21:33:18.331Z,1754688798.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 141.399994 m,
      nav range: 136.527130 m,
      bearing: 102.415180 deg,
      approach rate: -0.675117 m/s,
      LOS rate: -0.035644 deg/s,
      cmd heading: 105.935080 deg,
      new cmd heading: 105.894936 deg.

2025-08-08T21:33:18.509Z,1754688798.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761342
2025-08-08T21:33:18.761Z,1754688798.761 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013329
2025-08-08T21:33:18.768Z,1754688798.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.40 m.
2025-08-08T21:33:18.771Z,1754688798.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 141.399994 m,
      nav range: 136.228485 m,
      bearing: 102.399703 deg,
      approach rate: -0.678743 m/s,
      LOS rate: -0.035252 deg/s,
      cmd heading: 105.894939 deg,
      new cmd heading: 105.848406 deg.

2025-08-08T21:33:19.013Z,1754688799.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265200
2025-08-08T21:33:19.129Z,1754688799.129 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-08T21:33:19.131Z,1754688799.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.40 m.
2025-08-08T21:33:19.134Z,1754688799.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 141.399994 m,
      nav range: 135.980835 m,
      bearing: 102.386720 deg,
      approach rate: -0.682284 m/s,
      LOS rate: -0.035834 deg/s,
      cmd heading: 105.848405 deg,
      new cmd heading: 105.809385 deg.

2025-08-08T21:33:19.265Z,1754688799.265 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517395
2025-08-08T21:33:19.517Z,1754688799.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769321
2025-08-08T21:33:19.530Z,1754688799.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.40 m.
2025-08-08T21:33:19.533Z,1754688799.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 141.399994 m,
      nav range: 135.709076 m,
      bearing: 102.372326 deg,
      approach rate: -0.682003 m/s,
      LOS rate: -0.036197 deg/s,
      cmd heading: 105.809384 deg,
      new cmd heading: 105.766114 deg.

2025-08-08T21:33:19.771Z,1754688799.771 [DAT](INFO): DAT read: Rx Time:21:33:19.0918

2025-08-08T21:33:19.772Z,1754688799.772 [DAT](INFO): Rx dataTimestamp_ set to:1754688799.771876
2025-08-08T21:33:19.773Z,1754688799.773 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025498
2025-08-08T21:33:19.963Z,1754688799.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.40 m.
2025-08-08T21:33:19.970Z,1754688799.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 141.399994 m,
      nav range: 135.411575 m,
      bearing: 102.358455 deg,
      approach rate: -0.686953 m/s,
      LOS rate: -0.032099 deg/s,
      cmd heading: 105.766115 deg,
      new cmd heading: 105.724410 deg.

2025-08-08T21:33:20.021Z,1754688800.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273440
2025-08-08T21:33:20.283Z,1754688800.283 [DAT](INFO): DAT read: 21:33:19.0918 LVL= 25968, 29137, 22754, 32755, AGC= 64, IDX= 402, 0.24, 1.702, 0.129, 1.962, 1.468, PHS= 0.335,-1.294, 0.449, RAW= 153.4,   6.1, CAL= 152.6,   6.2, ROT= 357.4,  -6.2

2025-08-08T21:33:20.284Z,1754688800.284 [DAT](INFO): got valid direction response:
 21:33:19.0918 LVL= 25968, 29137, 22754, 32755, AGC= 64, IDX= 402, 0.24, 1.702, 0.129, 1.962, 1.468, PHS= 0.335,-1.294, 0.449, RAW= 153.4,   6.1, CAL= 152.6,   6.2, ROT= 357.4,  -6.2

2025-08-08T21:33:20.285Z,1754688800.285 [DAT](INFO): DAT read: Bearing 270.3,   7.6 (Local)

2025-08-08T21:33:20.285Z,1754688800.285 [DAT](INFO): Local bearing/azimuth received:
 Bearing 270.3,   7.6 (Local)

2025-08-08T21:33:20.287Z,1754688800.287 [DAT](INFO): DAT read: Range 11 to 50 : 138.6 m  (Round-trip  184.9 ms) speed  0.4 m/s

2025-08-08T21:33:20.287Z,1754688800.287 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-08T21:33:20.289Z,1754688800.289 [DAT](INFO): direction in FSK: [0.993128,-0.045098,0.107999]
2025-08-08T21:33:20.290Z,1754688800.290 [DAT](INFO): publishing direction and range info
2025-08-08T21:33:20.293Z,1754688800.293 [DAT](INFO): ****** received valid address query ******
2025-08-08T21:33:20.293Z,1754688800.293 [DAT](INFO): ****** received valid ping request ******
2025-08-08T21:33:20.293Z,1754688800.293 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-08T21:33:20.422Z,1754688800.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 138.600006 m,
      deltaT: 3.781395 s,
      deltaX: -2.799988 m,
      approachRate: -0.740464 m/s,
      rangeRepo size: 4

2025-08-08T21:33:20.429Z,1754688800.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 138.600006 m,
      bearing: 102.343964 deg,
      lat: 36.905995 deg,
      lon: -122.115855 deg,
      deltaT: 3.781395 s,
      deltaX: -2.799988 m,
      approachRate: -0.740464 m/s,
      posRepo size: 4

2025-08-08T21:33:20.429Z,1754688800.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.60 m.
2025-08-08T21:33:20.436Z,1754688800.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 138.600006 m,
      nav range: 135.102173 m,
      bearing: 102.343964 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.032099 deg/s,
      cmd heading: 105.724409 deg,
      new cmd heading: 105.680244 deg.

2025-08-08T21:33:20.525Z,1754688800.525 [DAT](INFO): DAT read: user:1185>

2025-08-08T21:33:20.526Z,1754688800.526 [DAT](INFO): DAT read: Tx time:21:33:20.3028

2025-08-08T21:33:20.526Z,1754688800.526 [DAT](INFO): Ping request sent.
2025-08-08T21:33:20.527Z,1754688800.527 [DAT](INFO): transmitted an acoustic signal
2025-08-08T21:33:20.527Z,1754688800.527 [DAT](INFO): publishing transmit ping time
2025-08-08T21:33:20.528Z,1754688800.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001411
2025-08-08T21:33:20.777Z,1754688800.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250483
2025-08-08T21:33:20.819Z,1754688800.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.60 m.
2025-08-08T21:33:20.822Z,1754688800.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 138.600006 m,
      nav range: 134.816101 m,
      bearing: 102.332364 deg,
      approach rate: -0.719158 m/s,
      LOS rate: -0.029225 deg/s,
      cmd heading: 105.680245 deg,
      new cmd heading: 105.645369 deg.

2025-08-08T21:33:21.029Z,1754688801.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502423
2025-08-08T21:33:21.166Z,1754688801.166 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-08T21:33:21.168Z,1754688801.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.60 m.
2025-08-08T21:33:21.171Z,1754688801.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 138.600006 m,
      nav range: 134.575928 m,
      bearing: 102.322536 deg,
      approach rate: -0.689056 m/s,
      LOS rate: -0.028246 deg/s,
      cmd heading: 105.645370 deg,
      new cmd heading: 105.615834 deg.

2025-08-08T21:33:21.282Z,1754688801.282 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755544
2025-08-08T21:33:21.533Z,1754688801.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006567
2025-08-08T21:33:21.614Z,1754688801.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.60 m.
2025-08-08T21:33:21.645Z,1754688801.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 138.600006 m,
      nav range: 134.279465 m,
      bearing: 102.310356 deg,
      approach rate: -0.666471 m/s,
      LOS rate: -0.027442 deg/s,
      cmd heading: 105.615837 deg,
      new cmd heading: 105.579215 deg.

2025-08-08T21:33:21.785Z,1754688801.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258640
2025-08-08T21:33:22.023Z,1754688802.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.60 m.
2025-08-08T21:33:22.026Z,1754688802.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 138.600006 m,
      nav range: 133.993774 m,
      bearing: 102.298571 deg,
      approach rate: -0.696605 m/s,
      LOS rate: -0.028795 deg/s,
      cmd heading: 105.579213 deg,
      new cmd heading: 105.543785 deg.

2025-08-08T21:33:22.037Z,1754688802.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510632
2025-08-08T21:33:22.289Z,1754688802.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763005
2025-08-08T21:33:22.391Z,1754688802.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.60 m.
2025-08-08T21:33:22.394Z,1754688802.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 138.600006 m,
      nav range: 133.746857 m,
      bearing: 102.288352 deg,
      approach rate: -0.671279 m/s,
      LOS rate: -0.027835 deg/s,
      cmd heading: 105.543785 deg,
      new cmd heading: 105.513069 deg.

2025-08-08T21:33:22.541Z,1754688802.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014445
2025-08-08T21:33:22.793Z,1754688802.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266519
2025-08-08T21:33:22.878Z,1754688802.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.60 m.
2025-08-08T21:33:22.881Z,1754688802.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 138.600006 m,
      nav range: 133.433624 m,
      bearing: 102.276145 deg,
      approach rate: -0.642821 m/s,
      LOS rate: -0.025109 deg/s,
      cmd heading: 105.513070 deg,
      new cmd heading: 105.476364 deg.

2025-08-08T21:33:23.045Z,1754688803.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518619
2025-08-08T21:33:23.198Z,1754688803.198 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-08T21:33:23.200Z,1754688803.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.60 m.
2025-08-08T21:33:23.203Z,1754688803.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 138.600006 m,
      nav range: 133.207886 m,
      bearing: 102.267378 deg,
      approach rate: -0.701293 m/s,
      LOS rate: -0.027283 deg/s,
      cmd heading: 105.476364 deg,
      new cmd heading: 105.450018 deg.

2025-08-08T21:33:23.298Z,1754688803.298 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771207
2025-08-08T21:33:23.549Z,1754688803.549 [DAT](INFO): DAT read: Rx Time:21:33:22.8880

2025-08-08T21:33:23.550Z,1754688803.550 [DAT](INFO): Rx dataTimestamp_ set to:1754688803.549312
2025-08-08T21:33:23.550Z,1754688803.550 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023850
2025-08-08T21:33:23.692Z,1754688803.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.60 m.
2025-08-08T21:33:23.695Z,1754688803.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 138.600006 m,
      nav range: 132.889572 m,
      bearing: 102.255045 deg,
      approach rate: -0.646757 m/s,
      LOS rate: -0.025117 deg/s,
      cmd heading: 105.450020 deg,
      new cmd heading: 105.412934 deg.

2025-08-08T21:33:23.802Z,1754688803.802 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275942
2025-08-08T21:33:24.077Z,1754688804.077 [DAT](INFO): DAT read: 21:33:22.8880 LVL= 31488, 32753, 27314, 32755, AGC= 65, IDX= 395, 0.44,-2.577, 2.149,-2.322,-2.832, PHS= 0.357,-1.257, 0.466, RAW= 153.3,   5.2, CAL= 152.4,   5.2, ROT= 357.6,  -5.2

2025-08-08T21:33:24.078Z,1754688804.078 [DAT](INFO): got valid direction response:
 21:33:22.8880 LVL= 31488, 32753, 27314, 32755, AGC= 65, IDX= 395, 0.44,-2.577, 2.149,-2.322,-2.832, PHS= 0.357,-1.257, 0.466, RAW= 153.3,   5.2, CAL= 152.4,   5.2, ROT= 357.6,  -5.2

2025-08-08T21:33:24.079Z,1754688804.079 [DAT](INFO): DAT read: Bearing 269.3,   9.3 (Local)

2025-08-08T21:33:24.079Z,1754688804.079 [DAT](INFO): Local bearing/azimuth received:
 Bearing 269.3,   9.3 (Local)

2025-08-08T21:33:24.089Z,1754688804.089 [DAT](INFO): DAT read: Range 11 to 50 : 135.8 m  (Round-trip  181.1 ms) speed  0.8 m/s

2025-08-08T21:33:24.090Z,1754688804.090 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-08T21:33:24.090Z,1754688804.090 [DAT](INFO): direction in FSK: [0.995011,-0.041703,0.090633]
2025-08-08T21:33:24.091Z,1754688804.091 [DAT](INFO): publishing direction and range info
2025-08-08T21:33:24.095Z,1754688804.095 [DAT](INFO): ****** received valid address query ******
2025-08-08T21:33:24.095Z,1754688804.095 [DAT](INFO): ****** received valid ping request ******
2025-08-08T21:33:24.095Z,1754688804.095 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-08T21:33:24.282Z,1754688804.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 135.800003 m,
      deltaT: 3.780086 s,
      deltaX: -2.800003 m,
      approachRate: -0.740725 m/s,
      rangeRepo size: 4

2025-08-08T21:33:24.288Z,1754688804.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 135.800003 m,
      bearing: 104.861443 deg,
      lat: 36.905944 deg,
      lon: -122.115883 deg,
      deltaT: 3.780086 s,
      deltaX: -2.800003 m,
      approachRate: -0.740725 m/s,
      posRepo size: 4

2025-08-08T21:33:24.289Z,1754688804.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.80 m.
2025-08-08T21:33:24.296Z,1754688804.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 135.800003 m,
      nav range: 131.414551 m,
      bearing: 104.861443 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.025117 deg/s,
      cmd heading: 105.412932 deg,
      new cmd heading: 105.368514 deg.

2025-08-08T21:33:24.305Z,1754688804.305 [DAT](INFO): DAT read: user:1186>

2025-08-08T21:33:24.306Z,1754688804.306 [DAT](INFO): DAT read: Tx time:21:33:24.1028

2025-08-08T21:33:24.306Z,1754688804.306 [DAT](INFO): Ping request sent.
2025-08-08T21:33:24.306Z,1754688804.306 [DAT](INFO): transmitted an acoustic signal
2025-08-08T21:33:24.306Z,1754688804.306 [DAT](INFO): publishing transmit ping time
2025-08-08T21:33:24.307Z,1754688804.307 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000773
2025-08-08T21:33:24.557Z,1754688804.557 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250918
2025-08-08T21:33:24.806Z,1754688804.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.80 m.
2025-08-08T21:33:24.809Z,1754688804.809 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502949
2025-08-08T21:33:24.811Z,1754688804.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 135.800003 m,
      nav range: 131.066071 m,
      bearing: 104.854211 deg,
      approach rate: -0.664051 m/s,
      LOS rate: -0.013817 deg/s,
      cmd heading: 105.368516 deg,
      new cmd heading: 105.346763 deg.

2025-08-08T21:33:25.061Z,1754688805.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754855
2025-08-08T21:33:25.313Z,1754688805.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007004
2025-08-08T21:33:25.316Z,1754688805.316 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-08T21:33:25.318Z,1754688805.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.80 m.
2025-08-08T21:33:25.325Z,1754688805.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 135.800003 m,
      nav range: 130.751465 m,
      bearing: 104.847972 deg,
      approach rate: -0.614314 m/s,
      LOS rate: -0.012211 deg/s,
      cmd heading: 105.346761 deg,
      new cmd heading: 105.328000 deg.

2025-08-08T21:33:25.565Z,1754688805.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258841
2025-08-08T21:33:25.788Z,1754688805.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.80 m.
2025-08-08T21:33:25.791Z,1754688805.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 135.800003 m,
      nav range: 130.438141 m,
      bearing: 104.839526 deg,
      approach rate: -0.667094 m/s,
      LOS rate: -0.018026 deg/s,
      cmd heading: 105.327999 deg,
      new cmd heading: 105.302600 deg.

2025-08-08T21:33:25.834Z,1754688805.834 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.527852
2025-08-08T21:33:26.085Z,1754688806.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.778889
2025-08-08T21:33:26.171Z,1754688806.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.80 m.
2025-08-08T21:33:26.174Z,1754688806.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 135.800003 m,
      nav range: 130.192871 m,
      bearing: 104.832951 deg,
      approach rate: -0.640881 m/s,
      LOS rate: -0.017212 deg/s,
      cmd heading: 105.302597 deg,
      new cmd heading: 105.282836 deg.

2025-08-08T21:33:26.337Z,1754688806.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.030846
2025-08-08T21:33:26.589Z,1754688806.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.282935
2025-08-08T21:33:26.608Z,1754688806.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.80 m.
2025-08-08T21:33:26.611Z,1754688806.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 135.800003 m,
      nav range: 129.925522 m,
      bearing: 104.825756 deg,
      approach rate: -0.611433 m/s,
      LOS rate: -0.016490 deg/s,
      cmd heading: 105.282838 deg,
      new cmd heading: 105.261207 deg.

2025-08-08T21:33:26.842Z,1754688806.842 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.535346
2025-08-08T21:33:26.997Z,1754688806.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.80 m.
2025-08-08T21:33:27.000Z,1754688807.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 135.800003 m,
      nav range: 129.662262 m,
      bearing: 104.816522 deg,
      approach rate: -0.676083 m/s,
      LOS rate: -0.023761 deg/s,
      cmd heading: 105.261206 deg,
      new cmd heading: 105.233449 deg.

2025-08-08T21:33:27.094Z,1754688807.094 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.788109
2025-08-08T21:33:27.345Z,1754688807.345 [DAT](INFO): DAT read: Rx Time:21:33:26.6849

2025-08-08T21:33:27.345Z,1754688807.345 [DAT](INFO): Rx dataTimestamp_ set to:1754688807.344976
2025-08-08T21:33:27.346Z,1754688807.346 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.039843
2025-08-08T21:33:27.459Z,1754688807.459 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-08T21:33:27.461Z,1754688807.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 135.80 m.
2025-08-08T21:33:27.465Z,1754688807.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 135.800003 m,
      nav range: 129.364197 m,
      bearing: 104.805970 deg,
      approach rate: -0.642590 m/s,
      LOS rate: -0.022802 deg/s,
      cmd heading: 105.233449 deg,
      new cmd heading: 105.201718 deg.

2025-08-08T21:33:27.597Z,1754688807.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.290883
2025-08-08T21:33:27.881Z,1754688807.881 [DAT](INFO): DAT read: 21:33:26.6849 LVL= 25152, 26081, 23602, 32707, AGC= 64, IDX= 410, 0.22,-0.179,-1.755, 0.076,-0.464, PHS= 0.387,-1.245, 0.496, RAW= 153.2,   4.3, CAL= 152.3,   4.1, ROT= 357.7,  -4.1

2025-08-08T21:33:27.882Z,1754688807.882 [DAT](INFO): got valid direction response:
 21:33:26.6849 LVL= 25152, 26081, 23602, 32707, AGC= 64, IDX= 410, 0.22,-0.179,-1.755, 0.076,-0.464, PHS= 0.387,-1.245, 0.496, RAW= 153.2,   4.3, CAL= 152.3,   4.1, ROT= 357.7,  -4.1

2025-08-08T21:33:27.892Z,1754688807.892 [DAT](INFO): DAT read: Bearing 268.2,  10.9 (Local)

2025-08-08T21:33:27.893Z,1754688807.893 [DAT](INFO): Local bearing/azimuth received:
 Bearing 268.2,  10.9 (Local)

2025-08-08T21:33:27.894Z,1754688807.894 [DAT](INFO): DAT read: Range 11 to 50 : 133.4 m  (Round-trip  177.9 ms) speed  0.6 m/s

2025-08-08T21:33:27.895Z,1754688807.895 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-08T21:33:27.904Z,1754688807.904 [DAT](INFO): direction in FSK: [0.996637,-0.040029,0.071497]
2025-08-08T21:33:27.904Z,1754688807.904 [DAT](INFO): publishing direction and range info
2025-08-08T21:33:27.907Z,1754688807.907 [DAT](INFO): ****** received valid address query ******
2025-08-08T21:33:27.908Z,1754688807.908 [DAT](INFO): ****** received valid ping request ******
2025-08-08T21:33:27.916Z,1754688807.916 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-08T21:33:27.975Z,1754688807.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 133.399994 m,
      deltaT: 3.796358 s,
      deltaX: -2.400009 m,
      approachRate: -0.632187 m/s,
      rangeRepo size: 4

2025-08-08T21:33:27.981Z,1754688807.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 133.399994 m,
      bearing: 104.979366 deg,
      lat: 36.905944 deg,
      lon: -122.115901 deg,
      deltaT: 3.796358 s,
      deltaX: -2.400009 m,
      approachRate: -0.632187 m/s,
      posRepo size: 4

2025-08-08T21:33:27.982Z,1754688807.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.40 m.
2025-08-08T21:33:27.993Z,1754688807.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.399994 m,
      nav range: 127.487839 m,
      bearing: 104.979366 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.022802 deg/s,
      cmd heading: 105.201715 deg,
      new cmd heading: 105.167051 deg.

2025-08-08T21:33:28.101Z,1754688808.101 [DAT](INFO): DAT read: user:1187>

2025-08-08T21:33:28.102Z,1754688808.102 [DAT](INFO): DAT read: Tx time:21:33:27.9029

2025-08-08T21:33:28.102Z,1754688808.102 [DAT](INFO): Ping request sent.
2025-08-08T21:33:28.102Z,1754688808.102 [DAT](INFO): transmitted an acoustic signal
2025-08-08T21:33:28.102Z,1754688808.102 [DAT](INFO): publishing transmit ping time
2025-08-08T21:33:28.103Z,1754688808.103 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000784
2025-08-08T21:33:28.344Z,1754688808.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.40 m.
2025-08-08T21:33:28.347Z,1754688808.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.399994 m,
      nav range: 127.225250 m,
      bearing: 104.970388 deg,
      approach rate: -0.698355 m/s,
      LOS rate: -0.023925 deg/s,
      cmd heading: 105.167052 deg,
      new cmd heading: 105.140064 deg.

2025-08-08T21:33:28.353Z,1754688808.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250834
2025-08-08T21:33:28.605Z,1754688808.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502973
2025-08-08T21:33:28.799Z,1754688808.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.40 m.
2025-08-08T21:33:28.802Z,1754688808.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.399994 m,
      nav range: 126.932167 m,
      bearing: 104.960244 deg,
      approach rate: -0.643929 m/s,
      LOS rate: -0.022338 deg/s,
      cmd heading: 105.140066 deg,
      new cmd heading: 105.109564 deg.

2025-08-08T21:33:28.858Z,1754688808.858 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756087
2025-08-08T21:33:29.109Z,1754688809.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006610
2025-08-08T21:33:29.170Z,1754688809.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.40 m.
2025-08-08T21:33:29.178Z,1754688809.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.399994 m,
      nav range: 126.689888 m,
      bearing: 104.950477 deg,
      approach rate: -0.652741 m/s,
      LOS rate: -0.026363 deg/s,
      cmd heading: 105.109563 deg,
      new cmd heading: 105.080206 deg.

2025-08-08T21:33:29.361Z,1754688809.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258751
2025-08-08T21:33:29.532Z,1754688809.532 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-08T21:33:29.534Z,1754688809.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.40 m.
2025-08-08T21:33:29.541Z,1754688809.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.399994 m,
      nav range: 126.433960 m,
      bearing: 104.940103 deg,
      approach rate: -0.703590 m/s,
      LOS rate: -0.028580 deg/s,
      cmd heading: 105.080206 deg,
      new cmd heading: 105.049019 deg.

2025-08-08T21:33:29.614Z,1754688809.614 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511988
2025-08-08T21:33:29.866Z,1754688809.866 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763368
2025-08-08T21:33:29.980Z,1754688809.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.40 m.
2025-08-08T21:33:29.982Z,1754688809.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.399994 m,
      nav range: 126.142899 m,
      bearing: 104.926667 deg,
      approach rate: -0.658962 m/s,
      LOS rate: -0.030488 deg/s,
      cmd heading: 105.049020 deg,
      new cmd heading: 105.008621 deg.

2025-08-08T21:33:30.117Z,1754688810.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014632
2025-08-08T21:33:30.344Z,1754688810.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.40 m.
2025-08-08T21:33:30.347Z,1754688810.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.399994 m,
      nav range: 125.875015 m,
      bearing: 104.914196 deg,
      approach rate: -0.727070 m/s,
      LOS rate: -0.033921 deg/s,
      cmd heading: 105.008619 deg,
      new cmd heading: 104.971125 deg.

2025-08-08T21:33:30.382Z,1754688810.382 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.279725
2025-08-08T21:33:30.633Z,1754688810.633 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.530689
2025-08-08T21:33:30.815Z,1754688810.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.40 m.
2025-08-08T21:33:30.821Z,1754688810.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.399994 m,
      nav range: 125.591179 m,
      bearing: 104.900869 deg,
      approach rate: -0.603451 m/s,
      LOS rate: -0.028398 deg/s,
      cmd heading: 104.971128 deg,
      new cmd heading: 104.931057 deg.

2025-08-08T21:33:30.885Z,1754688810.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.782746
2025-08-08T21:33:31.137Z,1754688811.137 [DAT](INFO): DAT read: Rx Time:21:33:30.4814

2025-08-08T21:33:31.137Z,1754688811.137 [DAT](INFO): Rx dataTimestamp_ set to:1754688811.137107
2025-08-08T21:33:31.138Z,1754688811.138 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.035786
2025-08-08T21:33:31.229Z,1754688811.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.40 m.
2025-08-08T21:33:31.236Z,1754688811.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.399994 m,
      nav range: 125.293343 m,
      bearing: 104.888894 deg,
      approach rate: -0.717858 m/s,
      LOS rate: -0.028929 deg/s,
      cmd heading: 104.931056 deg,
      new cmd heading: 104.895047 deg.

2025-08-08T21:33:31.389Z,1754688811.389 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.286647
2025-08-08T21:33:31.578Z,1754688811.578 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-08T21:33:31.597Z,1754688811.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.40 m.
2025-08-08T21:33:31.599Z,1754688811.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 133.399994 m,
      nav range: 125.027809 m,
      bearing: 104.878109 deg,
      approach rate: -0.723115 m/s,
      LOS rate: -0.029434 deg/s,
      cmd heading: 104.895047 deg,
      new cmd heading: 104.862622 deg.

2025-08-08T21:33:31.677Z,1754688811.677 [DAT](INFO): DAT read: 21:33:30.4814 LVL= 28144, 32753, 25074, 29491, AGC= 66, IDX= 406, 0.40, 2.745, 1.185, 3.023, 2.465, PHS= 0.382,-1.236, 0.514, RAW= 153.9,   4.1, CAL= 152.9,   3.8, ROT= 357.1,  -3.8

2025-08-08T21:33:31.678Z,1754688811.678 [DAT](INFO): got valid direction response:
 21:33:30.4814 LVL= 28144, 32753, 25074, 29491, AGC= 66, IDX= 406, 0.40, 2.745, 1.185, 3.023, 2.465, PHS= 0.382,-1.236, 0.514, RAW= 153.9,   4.1, CAL= 152.9,   3.8, ROT= 357.1,  -3.8

2025-08-08T21:33:31.679Z,1754688811.679 [DAT](INFO): DAT read: Bearing 268.0,  10.9 (Local)

2025-08-08T21:33:31.679Z,1754688811.679 [DAT](INFO): Local bearing/azimuth received:
 Bearing 268.0,  10.9 (Local)

2025-08-08T21:33:31.693Z,1754688811.693 [DAT](INFO): DAT read: Range 11 to 50 : 130.8 m  (Round-trip  174.4 ms) speed 

2025-08-08T21:33:31.695Z,1754688811.695 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-08T21:33:31.701Z,1754688811.701 [DAT](INFO): direction in FSK: [0.996524,-0.050482,0.066274]
2025-08-08T21:33:31.702Z,1754688811.702 [DAT](INFO): publishing direction and range info
2025-08-08T21:33:31.725Z,1754688811.725 [DAT](INFO): ****** received valid address query ******
2025-08-08T21:33:31.725Z,1754688811.725 [DAT](INFO): ****** received valid ping request ******
2025-08-08T21:33:31.725Z,1754688811.725 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-08T21:33:31.894Z,1754688811.894 [DAT](INFO): DAT read: user:1188>

2025-08-08T21:33:31.895Z,1754688811.895 [DAT](INFO): DAT read: Tx time:21:33:31.7029

2025-08-08T21:33:31.895Z,1754688811.895 [DAT](INFO): Ping request sent.
2025-08-08T21:33:31.895Z,1754688811.895 [DAT](INFO): transmitted an acoustic signal
2025-08-08T21:33:31.895Z,1754688811.895 [DAT](INFO): publishing transmit ping time
2025-08-08T21:33:31.896Z,1754688811.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000875
2025-08-08T21:33:32.038Z,1754688812.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 130.800003 m,
      deltaT: 3.791923 s,
      deltaX: -2.599991 m,
      approachRate: -0.685665 m/s,
      rangeRepo size: 4

2025-08-08T21:33:32.041Z,1754688812.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 130.800003 m,
      bearing: 104.867249 deg,
      lat: 36.905944 deg,
      lon: -122.115901 deg,
      deltaT: 3.791923 s,
      deltaX: -2.599991 m,
      approachRate: -0.685665 m/s,
      posRepo size: 4

2025-08-08T21:33:32.041Z,1754688812.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.80 m.
2025-08-08T21:33:32.044Z,1754688812.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.800003 m,
      nav range: 124.711983 m,
      bearing: 104.867249 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.029434 deg/s,
      cmd heading: 104.862624 deg,
      new cmd heading: 104.823733 deg.

2025-08-08T21:33:32.145Z,1754688812.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250016
2025-08-08T21:33:32.397Z,1754688812.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501911
2025-08-08T21:33:32.423Z,1754688812.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.80 m.
2025-08-08T21:33:32.426Z,1754688812.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.800003 m,
      nav range: 124.458435 m,
      bearing: 104.857745 deg,
      approach rate: -0.656723 m/s,
      LOS rate: -0.024667 deg/s,
      cmd heading: 104.823733 deg,
      new cmd heading: 104.795163 deg.

2025-08-08T21:33:32.652Z,1754688812.652 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757189
2025-08-08T21:33:32.869Z,1754688812.869 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA,  0.00, 206.20, 172.26, 26WI,-32768,-32768,-32768,-32768,V
2025-08-08T21:33:32.885Z,1754688812.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.80 m.
2025-08-08T21:33:32.901Z,1754688812.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005785
2025-08-08T21:33:32.902Z,1754688812.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.800003 m,
      nav range: 124.129478 m,
      bearing: 104.845326 deg,
      approach rate: -0.711599 m/s,
      LOS rate: -0.026936 deg/s,
      cmd heading: 104.795162 deg,
      new cmd heading: 104.757806 deg.

2025-08-08T21:33:33.153Z,1754688813.153 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257761
2025-08-08T21:33:33.250Z,1754688813.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.80 m.
2025-08-08T21:33:33.253Z,1754688813.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.800003 m,
      nav range: 123.880219 m,
      bearing: 104.835935 deg,
      approach rate: -0.684229 m/s,
      LOS rate: -0.025831 deg/s,
      cmd heading: 104.757808 deg,
      new cmd heading: 104.729578 deg.

2025-08-08T21:33:33.405Z,1754688813.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509800
2025-08-08T21:33:33.643Z,1754688813.643 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-08T21:33:33.645Z,1754688813.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.80 m.
2025-08-08T21:33:33.648Z,1754688813.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.800003 m,
      nav range: 123.610153 m,
      bearing: 104.825732 deg,
      approach rate: -0.682440 m/s,
      LOS rate: -0.025839 deg/s,
      cmd heading: 104.729579 deg,
      new cmd heading: 104.698902 deg.

2025-08-08T21:33:33.657Z,1754688813.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761923
2025-08-08T21:33:33.909Z,1754688813.909 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014340
2025-08-08T21:33:34.078Z,1754688814.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.80 m.
2025-08-08T21:33:34.081Z,1754688814.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.800003 m,
      nav range: 123.319801 m,
      bearing: 104.818270 deg,
      approach rate: -0.671991 m/s,
      LOS rate: -0.017312 deg/s,
      cmd heading: 104.698904 deg,
      new cmd heading: 104.676464 deg.

2025-08-08T21:33:34.161Z,1754688814.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266028
2025-08-08T21:33:34.413Z,1754688814.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517763
2025-08-08T21:33:34.466Z,1754688814.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.80 m.
2025-08-08T21:33:34.473Z,1754688814.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.800003 m,
      nav range: 123.067665 m,
      bearing: 104.811807 deg,
      approach rate: -0.649197 m/s,
      LOS rate: -0.016674 deg/s,
      cmd heading: 104.676467 deg,
      new cmd heading: 104.657039 deg.

2025-08-08T21:33:34.665Z,1754688814.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769756
2025-08-08T21:33:34.917Z,1754688814.917 [DAT](INFO): DAT read: Rx Time:21:33:34.2777

2025-08-08T21:33:34.917Z,1754688814.917 [DAT](INFO): Rx dataTimestamp_ set to:1754688814.917133
2025-08-08T21:33:34.918Z,1754688814.918 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022940
2025-08-08T21:33:34.922Z,1754688814.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.80 m.
2025-08-08T21:33:34.925Z,1754688814.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.800003 m,
      nav range: 122.750351 m,
      bearing: 104.806439 deg,
      approach rate: -0.695816 m/s,
      LOS rate: -0.011802 deg/s,
      cmd heading: 104.657042 deg,
      new cmd heading: 104.640896 deg.

2025-08-08T21:33:35.169Z,1754688815.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273883
2025-08-08T21:33:35.301Z,1754688815.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 130.80 m.
2025-08-08T21:33:35.304Z,1754688815.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 130.800003 m,
      nav range: 122.492073 m,
      bearing: 104.802111 deg,
      approach rate: -0.680917 m/s,
      LOS rate: -0.011433 deg/s,
      cmd heading: 104.640895 deg,
      new cmd heading: 104.627885 deg.

2025-08-08T21:33:35.424Z,1754688815.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527887
2025-08-08T21:33:35.678Z,1754688815.678 [DAT](INFO): DAT read: 21:33:34.2777 LVL= 26096, 31825, 25154, 32755, AGC= 65, IDX= 400, 0.36,-0.094,-1.664, 0.154,-0.406, PHS= 0.414,-1.212, 0.517, RAW= 153.0,   3.4, CAL= 152.0,   3.0, ROT= 358.0,  -3.0

2025-08-08T21:33:35.679Z,1754688815.679 [DAT](INFO): got valid direction response:
 21:33:34.2777 LVL= 26096, 31825, 25154, 32755, AGC= 65, IDX= 400, 0.36,-0.094,-1.664, 0.154,-0.406, PHS= 0.414,-1.212, 0.517, RAW= 153.0,   3.4, CAL= 152.0,   3.0, ROT= 358.0,  -3.0

2025-08-08T21:33:35.681Z,1754688815.681 [DAT](INFO): DAT read: Bearing 267.3,  12.4 (Local)

2025-08-08T21:33:35.682Z,1754688815.682 [DAT](INFO): Local bearing/azimuth received:
 Bearing 267.3,  12.4 (Local)

2025-08-08T21:33:35.685Z,1754688815.685 [DAT](INFO): DAT read: Range 11 to 50 : 128.0 m  (Round-trip  170.7 ms) speed  0.8 m/s

2025-08-08T21:33:35.687Z,1754688815.687 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-08T21:33:35.701Z,1754688815.701 [DAT](INFO): direction in FSK: [0.998021,-0.034852,0.052336]
2025-08-08T21:33:35.701Z,1754688815.701 [DAT](INFO): publishing direction and range info
2025-08-08T21:33:35.707Z,1754688815.707 [DAT](INFO): ****** received valid address query ******
2025-08-08T21:33:35.707Z,1754688815.707 [DAT](INFO): ****** received valid ping request ******
2025-08-08T21:33:35.740Z,1754688815.740 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-08T21:33:35.855Z,1754688815.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 128.000000 m,
      deltaT: 4.030388 s,
      deltaX: -2.800003 m,
      approachRate: -0.694723 m/s,
      rangeRepo size: 4

2025-08-08T21:33:35.874Z,1754688815.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 128.000000 m,
      bearing: 104.803023 deg,
      lat: 36.905944 deg,
      lon: -122.115902 deg,
      deltaT: 4.030388 s,
      deltaX: -2.800003 m,
      approachRate: -0.694723 m/s,
      posRepo size: 4

2025-08-08T21:33:35.874Z,1754688815.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.00 m.
2025-08-08T21:33:35.881Z,1754688815.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.000000 m,
      nav range: 122.116570 m,
      bearing: 104.803023 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.011433 deg/s,
      cmd heading: 104.627884 deg,
      new cmd heading: 104.609217 deg.

2025-08-08T21:33:35.925Z,1754688815.925 [DAT](INFO): DAT read: user:1189>

2025-08-08T21:33:35.926Z,1754688815.926 [DAT](INFO): DAT read: Tx time:21:33:35.7529

2025-08-08T21:33:35.926Z,1754688815.926 [DAT](INFO): Ping request sent.
2025-08-08T21:33:35.927Z,1754688815.927 [DAT](INFO): transmitted an acoustic signal
2025-08-08T21:33:35.927Z,1754688815.927 [DAT](INFO): publishing transmit ping time
2025-08-08T21:33:35.928Z,1754688815.928 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001307
2025-08-08T21:33:36.177Z,1754688816.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250821
2025-08-08T21:33:36.283Z,1754688816.283 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-08T21:33:36.285Z,1754688816.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.00 m.
2025-08-08T21:33:36.289Z,1754688816.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.000000 m,
      nav range: 121.786980 m,
      bearing: 104.799328 deg,
      approach rate: -0.749085 m/s,
      LOS rate: -0.008421 deg/s,
      cmd heading: 104.609217 deg,
      new cmd heading: 104.598102 deg.

2025-08-08T21:33:36.430Z,1754688816.430 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502990
2025-08-08T21:33:36.684Z,1754688816.684 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757238
2025-08-08T21:33:36.761Z,1754688816.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.00 m.
2025-08-08T21:33:36.763Z,1754688816.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.000000 m,
      nav range: 121.490814 m,
      bearing: 104.796623 deg,
      approach rate: -0.623003 m/s,
      LOS rate: -0.005705 deg/s,
      cmd heading: 104.598104 deg,
      new cmd heading: 104.589967 deg.

2025-08-08T21:33:36.933Z,1754688816.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006423
2025-08-08T21:33:37.173Z,1754688817.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.00 m.
2025-08-08T21:33:37.181Z,1754688817.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.000000 m,
      nav range: 121.218239 m,
      bearing: 104.795130 deg,
      approach rate: -0.660689 m/s,
      LOS rate: -0.003626 deg/s,
      cmd heading: 104.589970 deg,
      new cmd heading: 104.585482 deg.

2025-08-08T21:33:37.187Z,1754688817.187 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260278
2025-08-08T21:33:37.437Z,1754688817.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510399
2025-08-08T21:33:37.637Z,1754688817.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.00 m.
2025-08-08T21:33:37.644Z,1754688817.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.000000 m,
      nav range: 120.903992 m,
      bearing: 104.793585 deg,
      approach rate: -0.677635 m/s,
      LOS rate: -0.003341 deg/s,
      cmd heading: 104.585482 deg,
      new cmd heading: 104.580834 deg.

2025-08-08T21:33:37.690Z,1754688817.690 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763880
2025-08-08T21:33:37.941Z,1754688817.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014405
2025-08-08T21:33:38.068Z,1754688818.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.00 m.
2025-08-08T21:33:38.071Z,1754688818.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.000000 m,
      nav range: 120.634651 m,
      bearing: 104.790134 deg,
      approach rate: -0.631451 m/s,
      LOS rate: -0.008107 deg/s,
      cmd heading: 104.580838 deg,
      new cmd heading: 104.570463 deg.

2025-08-08T21:33:38.193Z,1754688818.193 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267056
2025-08-08T21:33:38.429Z,1754688818.429 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-08T21:33:38.431Z,1754688818.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.00 m.
2025-08-08T21:33:38.434Z,1754688818.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.000000 m,
      nav range: 120.380806 m,
      bearing: 104.787116 deg,
      approach rate: -0.691454 m/s,
      LOS rate: -0.008240 deg/s,
      cmd heading: 104.570463 deg,
      new cmd heading: 104.561388 deg.

2025-08-08T21:33:38.445Z,1754688818.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518483
2025-08-08T21:33:38.698Z,1754688818.698 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771448
2025-08-08T21:33:38.837Z,1754688818.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.00 m.
2025-08-08T21:33:38.857Z,1754688818.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.000000 m,
      nav range: 120.116425 m,
      bearing: 104.784141 deg,
      approach rate: -0.652475 m/s,
      LOS rate: -0.007358 deg/s,
      cmd heading: 104.561385 deg,
      new cmd heading: 104.552441 deg.

2025-08-08T21:33:38.949Z,1754688818.949 [DAT](INFO): DAT read: Rx Time:21:33:38.3241

2025-08-08T21:33:38.949Z,1754688818.949 [DAT](INFO): Rx dataTimestamp_ set to:1754688818.949150
2025-08-08T21:33:38.950Z,1754688818.950 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023587
2025-08-08T21:33:39.202Z,1754688819.202 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275058
2025-08-08T21:33:39.270Z,1754688819.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.00 m.
2025-08-08T21:33:39.272Z,1754688819.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.000000 m,
      nav range: 119.836174 m,
      bearing: 104.780781 deg,
      approach rate: -0.646492 m/s,
      LOS rate: -0.007769 deg/s,
      cmd heading: 104.552438 deg,
      new cmd heading: 104.542335 deg.

2025-08-08T21:33:39.459Z,1754688819.459 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.531457
2025-08-08T21:33:39.649Z,1754688819.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 128.00 m.
2025-08-08T21:33:39.652Z,1754688819.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 128.000000 m,
      nav range: 119.592102 m,
      bearing: 104.778049 deg,
      approach rate: -0.642734 m/s,
      LOS rate: -0.007210 deg/s,
      cmd heading: 104.542336 deg,
      new cmd heading: 104.534122 deg.

2025-08-08T21:33:39.713Z,1754688819.713 [DAT](INFO): DAT read: 21:33:38.3241 LVL= 28528, 30545, 26770, 32755, AGC= 64, IDX= 411,-0.03, 2.847, 1.261, 3.096, 2.529, PHS= 0.420,-1.223, 0.523, RAW= 153.0,   3.3, CAL= 152.0,   3.0, ROT= 358.0,  -3.0

2025-08-08T21:33:39.714Z,1754688819.714 [DAT](INFO): got valid direction response:
 21:33:38.3241 LVL= 28528, 30545, 26770, 32755, AGC= 64, IDX= 411,-0.03, 2.847, 1.261, 3.096, 2.529, PHS= 0.420,-1.223, 0.523, RAW= 153.0,   3.3, CAL= 152.0,   3.0, ROT= 358.0,  -3.0

2025-08-08T21:33:39.715Z,1754688819.715 [DAT](INFO): DAT read: Bearing 266.8,  12.9 (Local)

2025-08-08T21:33:39.715Z,1754688819.715 [DAT](INFO): Local bearing/azimuth received:
 Bearing 266.8,  12.9 (Local)

2025-08-08T21:33:39.724Z,1754688819.724 [DAT](INFO): DAT read: Range 11 to 50 : 125.2 m  (Round-trip  167.0 ms) speed  0.5 m/s

2025-08-08T21:33:39.725Z,1754688819.725 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-08T21:33:39.726Z,1754688819.726 [DAT](INFO): direction in FSK: [0.998021,-0.034852,0.052336]
2025-08-08T21:33:39.726Z,1754688819.726 [DAT](INFO): publishing direction and range info
2025-08-08T21:33:39.735Z,1754688819.735 [DAT](INFO): ****** received valid address query ******
2025-08-08T21:33:39.735Z,1754688819.735 [DAT](INFO): ****** received valid ping request ******
2025-08-08T21:33:39.735Z,1754688819.735 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-08T21:33:39.957Z,1754688819.957 [DAT](INFO): DAT read: user:1190>

2025-08-08T21:33:39.958Z,1754688819.958 [DAT](INFO): DAT read: Tx time:21:33:39.7529

2025-08-08T21:33:39.958Z,1754688819.958 [DAT](INFO): Ping request sent.
2025-08-08T21:33:39.958Z,1754688819.958 [DAT](INFO): transmitted an acoustic signal
2025-08-08T21:33:39.958Z,1754688819.958 [DAT](INFO): publishing transmit ping time
2025-08-08T21:33:39.959Z,1754688819.959 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000759
2025-08-08T21:33:40.122Z,1754688820.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 125.199997 m,
      deltaT: 4.032602 s,
      deltaX: -2.800003 m,
      approachRate: -0.694342 m/s,
      rangeRepo size: 4

2025-08-08T21:33:40.128Z,1754688820.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 125.199997 m,
      bearing: 104.666515 deg,
      lat: 36.905946 deg,
      lon: -122.115902 deg,
      deltaT: 4.032602 s,
      deltaX: -2.800003 m,
      approachRate: -0.694342 m/s,
      posRepo size: 4

2025-08-08T21:33:40.129Z,1754688820.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.20 m.
2025-08-08T21:33:40.131Z,1754688820.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 125.199997 m,
      nav range: 119.235809 m,
      bearing: 104.666515 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.007210 deg/s,
      cmd heading: 104.534119 deg,
      new cmd heading: 104.523912 deg.

2025-08-08T21:33:40.210Z,1754688820.210 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251554
2025-08-08T21:33:40.461Z,1754688820.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502854
2025-08-08T21:33:40.472Z,1754688820.472 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-08T21:33:40.475Z,1754688820.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.20 m.
2025-08-08T21:33:40.477Z,1754688820.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 125.199997 m,
      nav range: 119.010483 m,
      bearing: 104.662119 deg,
      approach rate: -0.637687 m/s,
      LOS rate: -0.012466 deg/s,
      cmd heading: 104.523915 deg,
      new cmd heading: 104.510701 deg.

2025-08-08T21:33:40.713Z,1754688820.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754916
2025-08-08T21:33:40.883Z,1754688820.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.20 m.
2025-08-08T21:33:40.890Z,1754688820.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 125.199997 m,
      nav range: 118.740158 m,
      bearing: 104.656956 deg,
      approach rate: -0.661125 m/s,
      LOS rate: -0.012657 deg/s,
      cmd heading: 104.510698 deg,
      new cmd heading: 104.495173 deg.

2025-08-08T21:33:40.965Z,1754688820.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007025
2025-08-08T21:33:41.217Z,1754688821.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258924
2025-08-08T21:33:41.293Z,1754688821.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.20 m.
2025-08-08T21:33:41.295Z,1754688821.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 125.199997 m,
      nav range: 118.451271 m,
      bearing: 104.650972 deg,
      approach rate: -0.705556 m/s,
      LOS rate: -0.014649 deg/s,
      cmd heading: 104.495173 deg,
      new cmd heading: 104.477179 deg.

2025-08-08T21:33:41.469Z,1754688821.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510876
2025-08-08T21:33:41.721Z,1754688821.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762899
2025-08-08T21:33:41.763Z,1754688821.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.20 m.
2025-08-08T21:33:41.766Z,1754688821.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 125.199997 m,
      nav range: 118.143555 m,
      bearing: 104.644755 deg,
      approach rate: -0.654267 m/s,
      LOS rate: -0.013254 deg/s,
      cmd heading: 104.477176 deg,
      new cmd heading: 104.458475 deg.

2025-08-08T21:33:41.973Z,1754688821.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014950
2025-08-08T21:33:42.121Z,1754688822.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.20 m.
2025-08-08T21:33:42.123Z,1754688822.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 125.199997 m,
      nav range: 117.894760 m,
      bearing: 104.637715 deg,
      approach rate: -0.695818 m/s,
      LOS rate: -0.019730 deg/s,
      cmd heading: 104.458475 deg,
      new cmd heading: 104.437311 deg.

2025-08-08T21:33:42.226Z,1754688822.226 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267339
2025-08-08T21:33:42.477Z,1754688822.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518753
2025-08-08T21:33:42.489Z,1754688822.489 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-08T21:33:42.491Z,1754688822.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.20 m.
2025-08-08T21:33:42.494Z,1754688822.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 125.199997 m,
      nav range: 117.627548 m,
      bearing: 104.630198 deg,
      approach rate: -0.721648 m/s,
      LOS rate: -0.020346 deg/s,
      cmd heading: 104.437308 deg,
      new cmd heading: 104.414707 deg.

2025-08-08T21:33:42.730Z,1754688822.730 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771800
2025-08-08T21:33:42.921Z,1754688822.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.20 m.
2025-08-08T21:33:42.939Z,1754688822.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 125.199997 m,
      nav range: 117.341026 m,
      bearing: 104.622186 deg,
      approach rate: -0.666135 m/s,
      LOS rate: -0.018673 deg/s,
      cmd heading: 104.414707 deg,
      new cmd heading: 104.390611 deg.

2025-08-08T21:33:42.984Z,1754688822.984 [DAT](INFO): DAT read: Rx Time:21:33:42.3203

2025-08-08T21:33:42.985Z,1754688822.985 [DAT](INFO): Rx dataTimestamp_ set to:1754688822.984506
2025-08-08T21:33:42.987Z,1754688822.987 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.029102
2025-08-08T21:33:43.233Z,1754688823.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274940
2025-08-08T21:33:43.370Z,1754688823.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 125.20 m.
2025-08-08T21:33:43.378Z,1754688823.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 125.199997 m,
      nav range: 117.024757 m,
      bearing: 104.611690 deg,
      approach rate: -0.704263 m/s,
      LOS rate: -0.023435 deg/s,
      cmd heading: 104.390610 deg,
      new cmd heading: 104.359037 deg.

2025-08-08T21:33:43.501Z,1754688823.501 [DAT](INFO): DAT read: 21:33:42.3203 LVL= 25744, 27889, 25970, 28339, AGC= 61, IDX= 404,-0.00,-2.653, 2.009,-2.413,-2.990, PHS= 0.439,-1.239, 0.533, RAW= 152.7,   3.1, CAL= 151.6,   2.8, ROT= 358.4,  -2.8

2025-08-08T21:33:43.502Z,1754688823.502 [DAT](INFO): got valid direction response:
 21:33:42.3203 LVL= 25744, 27889, 25970, 28339, AGC= 61, IDX= 404,-0.00,-2.653, 2.009,-2.413,-2.990, PHS= 0.439,-1.239, 0.533, RAW= 152.7,   3.1, CAL= 151.6,   2.8, ROT= 358.4,  -2.8

2025-08-08T21:33:43.503Z,1754688823.503 [DAT](INFO): DAT read: Bearing 266.1,  13.2 (Local)

2025-08-08T21:33:43.504Z,1754688823.504 [DAT](INFO): Local bearing/azimuth received:
 Bearing 266.1,  13.2 (Local)

2025-08-08T21:33:43.513Z,1754688823.513 [DAT](INFO): DAT read: Range 11 to 50 : 122.4 m  (Round-trip  163.2 ms) speed  0.8 m/s

2025-08-08T21:33:43.514Z,1754688823.514 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-08T21:33:43.515Z,1754688823.515 [DAT](INFO): direction in FSK: [0.998417,-0.027888,0.048850]
2025-08-08T21:33:43.515Z,1754688823.515 [DAT](INFO): publishing direction and range info
2025-08-08T21:33:43.527Z,1754688823.527 [DAT](INFO): ****** received valid address query ******
2025-08-08T21:33:43.527Z,1754688823.527 [DAT](INFO): ****** received valid ping request ******
2025-08-08T21:33:43.527Z,1754688823.527 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-08T21:33:43.737Z,1754688823.737 [DAT](INFO): DAT read: user:1191>

2025-08-08T21:33:43.738Z,1754688823.738 [DAT](INFO): DAT read: Tx time:21:33:43.5529

2025-08-08T21:33:43.738Z,1754688823.738 [DAT](INFO): Ping request sent.
2025-08-08T21:33:43.738Z,1754688823.738 [DAT](INFO): transmitted an acoustic signal
2025-08-08T21:33:43.738Z,1754688823.738 [DAT](INFO): publishing transmit ping time
2025-08-08T21:33:43.739Z,1754688823.739 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000763
2025-08-08T21:33:43.747Z,1754688823.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 122.400002 m,
      deltaT: 3.781120 s,
      deltaX: -2.799995 m,
      approachRate: -0.740520 m/s,
      rangeRepo size: 4

2025-08-08T21:33:43.749Z,1754688823.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 122.400002 m,
      bearing: 104.192762 deg,
      lat: 36.905954 deg,
      lon: -122.115901 deg,
      deltaT: 3.781120 s,
      deltaX: -2.799995 m,
      approachRate: -0.740520 m/s,
      posRepo size: 4

2025-08-08T21:33:43.750Z,1754688823.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.40 m.
2025-08-08T21:33:43.753Z,1754688823.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 122.400002 m,
      nav range: 116.586403 m,
      bearing: 104.192762 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.023435 deg/s,
      cmd heading: 104.359034 deg,
      new cmd heading: 104.332585 deg.

2025-08-08T21:33:43.990Z,1754688823.990 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252240
2025-08-08T21:33:44.180Z,1754688824.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.40 m.
2025-08-08T21:33:44.189Z,1754688824.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 122.400002 m,
      nav range: 116.287560 m,
      bearing: 104.182805 deg,
      approach rate: -0.696309 m/s,
      LOS rate: -0.023259 deg/s,
      cmd heading: 104.332588 deg,
      new cmd heading: 104.302640 deg.

2025-08-08T21:33:44.242Z,1754688824.242 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503832
2025-08-08T21:33:44.493Z,1754688824.493 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754928
2025-08-08T21:33:44.552Z,1754688824.552 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-08T21:33:44.554Z,1754688824.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.40 m.
2025-08-08T21:33:44.561Z,1754688824.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 122.400002 m,
      nav range: 116.002296 m,
      bearing: 104.173316 deg,
      approach rate: -0.753711 m/s,
      LOS rate: -0.025134 deg/s,
      cmd heading: 104.302637 deg,
      new cmd heading: 104.274099 deg.

2025-08-08T21:33:44.745Z,1754688824.745 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006850
2025-08-08T21:33:44.946Z,1754688824.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.40 m.
2025-08-08T21:33:44.949Z,1754688824.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 122.400002 m,
      nav range: 115.720116 m,
      bearing: 104.163985 deg,
      approach rate: -0.719711 m/s,
      LOS rate: -0.023856 deg/s,
      cmd heading: 104.274101 deg,
      new cmd heading: 104.246041 deg.

2025-08-08T21:33:44.000Z,1754688825.000 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261428
2025-08-08T21:33:45.249Z,1754688825.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510787
2025-08-08T21:33:45.376Z,1754688825.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.40 m.
2025-08-08T21:33:45.379Z,1754688825.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 122.400002 m,
      nav range: 115.410072 m,
      bearing: 104.153547 deg,
      approach rate: -0.720557 m/s,
      LOS rate: -0.024324 deg/s,
      cmd heading: 104.246042 deg,
      new cmd heading: 104.214644 deg.

2025-08-08T21:33:45.501Z,1754688825.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763045
2025-08-08T21:33:45.753Z,1754688825.753 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015036
2025-08-08T21:33:45.762Z,1754688825.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.40 m.
2025-08-08T21:33:45.765Z,1754688825.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 122.400002 m,
      nav range: 115.136589 m,
      bearing: 104.144421 deg,
      approach rate: -0.710110 m/s,
      LOS rate: -0.023752 deg/s,
      cmd heading: 104.214644 deg,
      new cmd heading: 104.187201 deg.

2025-08-08T21:33:46.007Z,1754688826.007 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269128
2025-08-08T21:33:46.203Z,1754688826.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.40 m.
2025-08-08T21:33:46.214Z,1754688826.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 122.400002 m,
      nav range: 114.840454 m,
      bearing: 104.132968 deg,
      approach rate: -0.670712 m/s,
      LOS rate: -0.026008 deg/s,
      cmd heading: 104.187200 deg,
      new cmd heading: 104.152751 deg.

2025-08-08T21:33:46.257Z,1754688826.257 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519409
2025-08-08T21:33:46.509Z,1754688826.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770882
2025-08-08T21:33:46.567Z,1754688826.567 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-08T21:33:46.569Z,1754688826.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.40 m.
2025-08-08T21:33:46.572Z,1754688826.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 122.400002 m,
      nav range: 114.563515 m,
      bearing: 104.122339 deg,
      approach rate: -0.756421 m/s,
      LOS rate: -0.029100 deg/s,
      cmd heading: 104.152749 deg,
      new cmd heading: 104.120787 deg.

2025-08-08T21:33:46.761Z,1754688826.761 [DAT](INFO): DAT read: Rx Time:21:33:46.1165

2025-08-08T21:33:46.761Z,1754688826.761 [DAT](INFO): Rx dataTimestamp_ set to:1754688826.760921
2025-08-08T21:33:46.762Z,1754688826.762 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023808
2025-08-08T21:33:46.987Z,1754688826.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.40 m.
2025-08-08T21:33:47.010Z,1754688827.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 122.400002 m,
      nav range: 114.283630 m,
      bearing: 104.111682 deg,
      approach rate: -0.672387 m/s,
      LOS rate: -0.025666 deg/s,
      cmd heading: 104.120783 deg,
      new cmd heading: 104.088733 deg.

2025-08-08T21:33:47.017Z,1754688827.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278685
2025-08-08T21:33:47.268Z,1754688827.268 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529434
2025-08-08T21:33:47.443Z,1754688827.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 122.40 m.
2025-08-08T21:33:47.446Z,1754688827.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 122.400002 m,
      nav range: 113.950737 m,
      bearing: 104.099270 deg,
      approach rate: -0.727497 m/s,
      LOS rate: -0.027205 deg/s,
      cmd heading: 104.088736 deg,
      new cmd heading: 104.051390 deg.

2025-08-08T21:33:47.524Z,1754688827.524 [DAT](INFO): DAT read: 21:33:46.1165 LVL= 25696, 29537, 24402, 31923, AGC= 66, IDX= 397, 0.34, 3.058, 1.453,-3.004, 2.726, PHS= 0.434,-1.228, 0.509, RAW= 152.2,   3.4, CAL= 151.2,   3.1, ROT= 358.8,  -3.1

2025-08-08T21:33:47.526Z,1754688827.526 [DAT](INFO): got valid direction response:
 21:33:46.1165 LVL= 25696, 29537, 24402, 31923, AGC= 66, IDX= 397, 0.34, 3.058, 1.453,-3.004, 2.726, PHS= 0.434,-1.228, 0.509, RAW= 152.2,   3.4, CAL= 151.2,   3.1, ROT= 358.8,  -3.1

2025-08-08T21:33:47.527Z,1754688827.527 [DAT](INFO): DAT read: Bearing 265.9,  13.4 (Local)

2025-08-08T21:33:47.527Z,1754688827.527 [DAT](INFO): Local bearing/azimuth received:
 Bearing 265.9,  13.4 (Local)

2025-08-08T21:33:47.530Z,1754688827.530 [DAT](INFO): DAT read: Range 11 to 50 : 119.5 m  (Round-trip  159.4 ms) speed  0.6 m/s

2025-08-08T21:33:47.530Z,1754688827.530 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-08T21:33:47.531Z,1754688827.531 [DAT](INFO): direction in FSK: [0.998318,-0.020912,0.054079]
2025-08-08T21:33:47.531Z,1754688827.531 [DAT](INFO): publishing direction and range info
2025-08-08T21:33:47.535Z,1754688827.535 [DAT](INFO): ****** received valid address query ******
2025-08-08T21:33:47.535Z,1754688827.535 [DAT](INFO): ****** received valid ping request ******
2025-08-08T21:33:47.535Z,1754688827.535 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-08T21:33:47.769Z,1754688827.769 [DAT](INFO): DAT read: user:1192>

2025-08-08T21:33:47.770Z,1754688827.770 [DAT](INFO): DAT read: Tx time:21:33:47.5529

2025-08-08T21:33:47.770Z,1754688827.770 [DAT](INFO): Ping request sent.
2025-08-08T21:33:47.770Z,1754688827.770 [DAT](INFO): transmitted an acoustic signal
2025-08-08T21:33:47.770Z,1754688827.770 [DAT](INFO): publishing transmit ping time
2025-08-08T21:33:47.771Z,1754688827.771 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000749
2025-08-08T21:33:47.902Z,1754688827.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 119.500000 m,
      deltaT: 4.030322 s,
      deltaX: -2.900002 m,
      approachRate: -0.719546 m/s,
      rangeRepo size: 4

2025-08-08T21:33:47.908Z,1754688827.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 119.500000 m,
      bearing: 104.064038 deg,
      lat: 36.905954 deg,
      lon: -122.115900 deg,
      deltaT: 4.030322 s,
      deltaX: -2.900002 m,
      approachRate: -0.719546 m/s,
      posRepo size: 4

2025-08-08T21:33:47.909Z,1754688827.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.50 m.
2025-08-08T21:33:47.915Z,1754688827.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 119.500000 m,
      nav range: 113.759605 m,
      bearing: 104.064038 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.027205 deg/s,
      cmd heading: 104.051389 deg,
      new cmd heading: 104.013978 deg.

2025-08-08T21:33:48.024Z,1754688828.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253318
2025-08-08T21:33:48.273Z,1754688828.273 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503027
2025-08-08T21:33:48.319Z,1754688828.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.50 m.
2025-08-08T21:33:48.321Z,1754688828.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 119.500000 m,
      nav range: 113.483292 m,
      bearing: 104.053895 deg,
      approach rate: -0.662366 m/s,
      LOS rate: -0.024374 deg/s,
      cmd heading: 104.013980 deg,
      new cmd heading: 103.983476 deg.

2025-08-08T21:33:48.527Z,1754688828.527 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756652
2025-08-08T21:33:48.691Z,1754688828.691 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-08T21:33:48.697Z,1754688828.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.50 m.
2025-08-08T21:33:48.705Z,1754688828.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 119.500000 m,
      nav range: 113.241577 m,
      bearing: 104.045126 deg,
      approach rate: -0.637941 m/s,
      LOS rate: -0.023193 deg/s,
      cmd heading: 103.983476 deg,
      new cmd heading: 103.957113 deg.

2025-08-08T21:33:48.778Z,1754688828.778 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008404
2025-08-08T21:33:49.031Z,1754688829.031 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260966
2025-08-08T21:33:49.143Z,1754688829.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.50 m.
2025-08-08T21:33:49.146Z,1754688829.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 119.500000 m,
      nav range: 112.925987 m,
      bearing: 104.033953 deg,
      approach rate: -0.708462 m/s,
      LOS rate: -0.025153 deg/s,
      cmd heading: 103.957112 deg,
      new cmd heading: 103.923498 deg.

2025-08-08T21:33:49.281Z,1754688829.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510927
2025-08-08T21:33:49.508Z,1754688829.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.50 m.
2025-08-08T21:33:49.511Z,1754688829.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 119.500000 m,
      nav range: 112.687401 m,
      bearing: 104.026040 deg,
      approach rate: -0.654066 m/s,
      LOS rate: -0.021739 deg/s,
      cmd heading: 103.923500 deg,
      new cmd heading: 103.899711 deg.

2025-08-08T21:33:49.533Z,1754688829.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763030
2025-08-08T21:33:49.785Z,1754688829.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014864
2025-08-08T21:33:49.915Z,1754688829.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.50 m.
2025-08-08T21:33:49.918Z,1754688829.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 119.500000 m,
      nav range: 112.421127 m,
      bearing: 104.017341 deg,
      approach rate: -0.653833 m/s,
      LOS rate: -0.021409 deg/s,
      cmd heading: 103.899711 deg,
      new cmd heading: 103.873554 deg.

2025-08-08T21:33:50.040Z,1754688830.040 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269469
2025-08-08T21:33:50.289Z,1754688830.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518845
2025-08-08T21:33:50.350Z,1754688830.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.50 m.
2025-08-08T21:33:50.357Z,1754688830.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 119.500000 m,
      nav range: 112.138412 m,
      bearing: 104.009696 deg,
      approach rate: -0.649961 m/s,
      LOS rate: -0.017620 deg/s,
      cmd heading: 103.873551 deg,
      new cmd heading: 103.850558 deg.

2025-08-08T21:33:50.541Z,1754688830.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770894
2025-08-08T21:33:50.728Z,1754688830.728 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-08T21:33:50.731Z,1754688830.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.50 m.
2025-08-08T21:33:50.734Z,1754688830.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 119.500000 m,
      nav range: 111.890884 m,
      bearing: 104.003086 deg,
      approach rate: -0.649351 m/s,
      LOS rate: -0.017380 deg/s,
      cmd heading: 103.850561 deg,
      new cmd heading: 103.830685 deg.

2025-08-08T21:33:50.794Z,1754688830.794 [DAT](INFO): DAT read: Rx Time:21:33:50.1129

2025-08-08T21:33:50.795Z,1754688830.795 [DAT](INFO): Rx dataTimestamp_ set to:1754688830.794047
2025-08-08T21:33:50.795Z,1754688830.795 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025337
2025-08-08T21:33:51.048Z,1754688831.048 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276990
2025-08-08T21:33:51.202Z,1754688831.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 119.50 m.
2025-08-08T21:33:51.209Z,1754688831.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 119.500000 m,
      nav range: 111.591476 m,
      bearing: 103.997903 deg,
      approach rate: -0.636033 m/s,
      LOS rate: -0.011039 deg/s,
      cmd heading: 103.830685 deg,
      new cmd heading: 103.815095 deg.

2025-08-08T21:33:51.302Z,1754688831.302 [DAT](INFO): DAT read: 21:33:50.1129 LVL= 24656, 29489, 23650, 32755, AGC= 63, IDX= 409,-0.09,-1.841, 2.868,-1.635,-2.147, PHS= 0.408,-1.224, 0.468, RAW= 151.8,   4.2, CAL= 150.9,   4.2, ROT= 359.1,  -4.2

2025-08-08T21:33:51.303Z,1754688831.303 [DAT](INFO): got valid direction response:
 21:33:50.1129 LVL= 24656, 29489, 23650, 32755, AGC= 63, IDX= 409,-0.09,-1.841, 2.868,-1.635,-2.147, PHS= 0.408,-1.224, 0.468, RAW= 151.8,   4.2, CAL= 150.9,   4.2, ROT= 359.1,  -4.2

2025-08-08T21:33:51.304Z,1754688831.304 [DAT](INFO): DAT read: Bearing 266.5,  13.7 (Local)

2025-08-08T21:33:51.305Z,1754688831.305 [DAT](INFO): Local bearing/azimuth received:
 Bearing 266.5,  13.7 (Local)

2025-08-08T21:33:51.306Z,1754688831.306 [DAT](INFO): DAT read: Range 11 to 50 : 116.9 m  (Round-trip  155.9 ms) speed  0.6 m/s

2025-08-08T21:33:51.306Z,1754688831.306 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-08T21:33:51.307Z,1754688831.307 [DAT](INFO): direction in FSK: [0.997191,-0.015665,0.073238]
2025-08-08T21:33:51.308Z,1754688831.308 [DAT](INFO): publishing direction and range info
2025-08-08T21:33:51.311Z,1754688831.311 [DAT](INFO): ****** received valid address query ******
2025-08-08T21:33:51.311Z,1754688831.311 [DAT](INFO): ****** received valid ping request ******
2025-08-08T21:33:51.311Z,1754688831.311 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-08T21:33:51.549Z,1754688831.549 [DAT](INFO): DAT read: user:1193>

2025-08-08T21:33:51.550Z,1754688831.550 [DAT](INFO): DAT read: Tx time:21:33:51.3029

2025-08-08T21:33:51.550Z,1754688831.550 [DAT](INFO): Ping request sent.
2025-08-08T21:33:51.550Z,1754688831.550 [DAT](INFO): transmitted an acoustic signal
2025-08-08T21:33:51.550Z,1754688831.550 [DAT](INFO): publishing transmit ping time
2025-08-08T21:33:51.551Z,1754688831.551 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000752
2025-08-08T21:33:51.693Z,1754688831.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 116.900002 m,
      deltaT: 3.779921 s,
      deltaX: -2.599998 m,
      approachRate: -0.687845 m/s,
      rangeRepo size: 4

2025-08-08T21:33:51.695Z,1754688831.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 116.900002 m,
      bearing: 103.877306 deg,
      lat: 36.905956 deg,
      lon: -122.115900 deg,
      deltaT: 3.779921 s,
      deltaX: -2.599998 m,
      approachRate: -0.687845 m/s,
      posRepo size: 4

2025-08-08T21:33:51.696Z,1754688831.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.90 m.
2025-08-08T21:33:51.698Z,1754688831.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 116.900002 m,
      nav range: 111.201012 m,
      bearing: 103.877306 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.011039 deg/s,
      cmd heading: 103.815091 deg,
      new cmd heading: 103.798861 deg.

2025-08-08T21:33:51.806Z,1754688831.806 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.255710
2025-08-08T21:33:52.060Z,1754688832.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.509124
2025-08-08T21:33:52.174Z,1754688832.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.90 m.
2025-08-08T21:33:52.188Z,1754688832.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 116.900002 m,
      nav range: 110.890907 m,
      bearing: 103.873404 deg,
      approach rate: -0.643206 m/s,
      LOS rate: -0.008116 deg/s,
      cmd heading: 103.798863 deg,
      new cmd heading: 103.787124 deg.

2025-08-08T21:33:52.309Z,1754688832.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.758605
2025-08-08T21:33:52.525Z,1754688832.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.90 m.
2025-08-08T21:33:52.528Z,1754688832.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 116.900002 m,
      nav range: 110.647881 m,
      bearing: 103.870367 deg,
      approach rate: -0.692451 m/s,
      LOS rate: -0.008674 deg/s,
      cmd heading: 103.787122 deg,
      new cmd heading: 103.777989 deg.

2025-08-08T21:33:52.562Z,1754688832.562 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.011073
2025-08-08T21:33:52.813Z,1754688832.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262634
2025-08-08T21:33:52.949Z,1754688832.949 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-08T21:33:52.951Z,1754688832.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.90 m.
2025-08-08T21:33:52.954Z,1754688832.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 116.900002 m,
      nav range: 110.368179 m,
      bearing: 103.866893 deg,
      approach rate: -0.656114 m/s,
      LOS rate: -0.008170 deg/s,
      cmd heading: 103.777990 deg,
      new cmd heading: 103.767542 deg.

2025-08-08T21:33:53.067Z,1754688833.067 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.516972
2025-08-08T21:33:53.317Z,1754688833.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766622
2025-08-08T21:33:53.397Z,1754688833.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.90 m.
2025-08-08T21:33:53.399Z,1754688833.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 116.900002 m,
      nav range: 110.069023 m,
      bearing: 103.864226 deg,
      approach rate: -0.671795 m/s,
      LOS rate: -0.006005 deg/s,
      cmd heading: 103.767540 deg,
      new cmd heading: 103.759518 deg.

2025-08-08T21:33:53.569Z,1754688833.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018608
2025-08-08T21:33:53.773Z,1754688833.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.90 m.
2025-08-08T21:33:53.776Z,1754688833.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 116.900002 m,
      nav range: 109.810295 m,
      bearing: 103.861927 deg,
      approach rate: -0.687313 m/s,
      LOS rate: -0.006121 deg/s,
      cmd heading: 103.759521 deg,
      new cmd heading: 103.752609 deg.

2025-08-08T21:33:53.821Z,1754688833.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270727
2025-08-08T21:33:54.076Z,1754688834.076 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.524818
2025-08-08T21:33:54.210Z,1754688834.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.90 m.
2025-08-08T21:33:54.213Z,1754688834.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 116.900002 m,
      nav range: 109.510689 m,
      bearing: 103.861111 deg,
      approach rate: -0.686272 m/s,
      LOS rate: -0.001874 deg/s,
      cmd heading: 103.752609 deg,
      new cmd heading: 103.750154 deg.

2025-08-08T21:33:54.325Z,1754688834.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774560
2025-08-08T21:33:54.577Z,1754688834.577 [DAT](INFO): DAT read: Rx Time:21:33:53.8592

2025-08-08T21:33:54.578Z,1754688834.578 [DAT](INFO): Rx dataTimestamp_ set to:1754688834.577431
2025-08-08T21:33:54.578Z,1754688834.578 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.028029
2025-08-08T21:33:54.587Z,1754688834.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.90 m.
2025-08-08T21:33:54.590Z,1754688834.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 116.900002 m,
      nav range: 109.253700 m,
      bearing: 103.860408 deg,
      approach rate: -0.681273 m/s,
      LOS rate: -0.001870 deg/s,
      cmd heading: 103.750157 deg,
      new cmd heading: 103.748041 deg.

2025-08-08T21:33:54.829Z,1754688834.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279005
2025-08-08T21:33:54.970Z,1754688834.970 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-08T21:33:54.972Z,1754688834.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 116.90 m.
2025-08-08T21:33:54.975Z,1754688834.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 116.900002 m,
      nav range: 108.987206 m,
      bearing: 103.859741 deg,
      approach rate: -0.692273 m/s,
      LOS rate: -0.001737 deg/s,
      cmd heading: 103.748039 deg,
      new cmd heading: 103.746033 deg.

2025-08-08T21:33:55.091Z,1754688835.091 [DAT](INFO): DAT read: 21:33:53.8592 LVL= 30288, 32753, 31474, 32755, AGC= 66, IDX= 403, 0.25,-2.070, 2.587,-1.864,-2.406, PHS= 0.437,-1.246, 0.498, RAW= 151.7,   3.7, CAL= 150.8,   3.5, ROT= 359.2,  -3.5

2025-08-08T21:33:55.093Z,1754688835.093 [DAT](INFO): got valid direction response:
 21:33:53.8592 LVL= 30288, 32753, 31474, 32755, AGC= 66, IDX= 403, 0.25,-2.070, 2.587,-1.864,-2.406, PHS= 0.437,-1.246, 0.498, RAW= 151.7,   3.7, CAL= 150.8,   3.5, ROT= 359.2,  -3.5

2025-08-08T21:33:55.094Z,1754688835.094 [DAT](INFO): DAT read: Bearing 265.7,  13.5 (Local)

2025-08-08T21:33:55.095Z,1754688835.095 [DAT](INFO): Local bearing/azimuth received:
 Bearing 265.7,  13.5 (Local)

2025-08-08T21:33:55.102Z,1754688835.102 [DAT](INFO): DAT read: Range 11 to 50 : 114.1 m  (Round-trip  152.2 ms) speed  0.6 m/s

2025-08-08T21:33:55.104Z,1754688835.104 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-08T21:33:55.108Z,1754688835.108 [DAT](INFO): direction in FSK: [0.998038,-0.013936,0.061049]
2025-08-08T21:33:55.122Z,1754688835.122 [DAT](INFO): publishing direction and range info
2025-08-08T21:33:55.170Z,1754688835.170 [DAT](INFO): ****** received valid address query ******
2025-08-08T21:33:55.170Z,1754688835.170 [DAT](INFO): ****** received valid ping request ******
2025-08-08T21:33:55.171Z,1754688835.171 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-08T21:33:55.333Z,1754688835.333 [DAT](INFO): DAT read: user:1194>

2025-08-08T21:33:55.334Z,1754688835.334 [DAT](INFO): DAT read: Tx time:21:33:55.2529

2025-08-08T21:33:55.334Z,1754688835.334 [DAT](INFO): Ping request sent.
2025-08-08T21:33:55.334Z,1754688835.334 [DAT](INFO): transmitted an acoustic signal
2025-08-08T21:33:55.334Z,1754688835.334 [DAT](INFO): publishing transmit ping time
2025-08-08T21:33:55.335Z,1754688835.335 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000746
2025-08-08T21:33:55.491Z,1754688835.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 114.099998 m,
      deltaT: 3.785090 s,
      deltaX: -2.800003 m,
      approachRate: -0.739745 m/s,
      rangeRepo size: 4

2025-08-08T21:33:55.497Z,1754688835.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 114.099998 m,
      bearing: 103.843808 deg,
      lat: 36.905956 deg,
      lon: -122.115900 deg,
      deltaT: 3.785090 s,
      deltaX: -2.800003 m,
      approachRate: -0.739745 m/s,
      posRepo size: 4

2025-08-08T21:33:55.498Z,1754688835.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.10 m.
2025-08-08T21:33:55.505Z,1754688835.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 114.099998 m,
      nav range: 108.630417 m,
      bearing: 103.843808 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.001737 deg/s,
      cmd heading: 103.746031 deg,
      new cmd heading: 103.743331 deg.

2025-08-08T21:33:55.585Z,1754688835.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251054
2025-08-08T21:33:55.834Z,1754688835.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.10 m.
2025-08-08T21:33:55.838Z,1754688835.838 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503637
2025-08-08T21:33:55.857Z,1754688835.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 114.099998 m,
      nav range: 108.370811 m,
      bearing: 103.841646 deg,
      approach rate: -0.754106 m/s,
      LOS rate: -0.006295 deg/s,
      cmd heading: 103.743333 deg,
      new cmd heading: 103.736832 deg.

2025-08-08T21:33:56.092Z,1754688836.092 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757735
2025-08-08T21:33:56.335Z,1754688836.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.10 m.
2025-08-08T21:33:56.337Z,1754688836.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 114.099998 m,
      nav range: 108.021385 m,
      bearing: 103.839482 deg,
      approach rate: -0.698266 m/s,
      LOS rate: -0.004339 deg/s,
      cmd heading: 103.736831 deg,
      new cmd heading: 103.730316 deg.

2025-08-08T21:33:56.341Z,1754688836.341 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007024
2025-08-08T21:33:56.594Z,1754688836.594 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259636
2025-08-08T21:33:56.714Z,1754688836.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.10 m.
2025-08-08T21:33:56.721Z,1754688836.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 114.099998 m,
      nav range: 107.762062 m,
      bearing: 103.837982 deg,
      approach rate: -0.682708 m/s,
      LOS rate: -0.003960 deg/s,
      cmd heading: 103.730315 deg,
      new cmd heading: 103.725803 deg.

2025-08-08T21:33:56.845Z,1754688836.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511155
2025-08-08T21:33:57.085Z,1754688837.085 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-08T21:33:57.087Z,1754688837.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.10 m.
2025-08-08T21:33:57.090Z,1754688837.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 114.099998 m,
      nav range: 107.498833 m,
      bearing: 103.836594 deg,
      approach rate: -0.706677 m/s,
      LOS rate: -0.003734 deg/s,
      cmd heading: 103.725800 deg,
      new cmd heading: 103.721627 deg.

2025-08-08T21:33:57.097Z,1754688837.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763052
2025-08-08T21:33:57.349Z,1754688837.349 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014785
2025-08-08T21:33:57.515Z,1754688837.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.10 m.
2025-08-08T21:33:57.518Z,1754688837.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 114.099998 m,
      nav range: 107.193481 m,
      bearing: 103.832191 deg,
      approach rate: -0.712678 m/s,
      LOS rate: -0.010305 deg/s,
      cmd heading: 103.721627 deg,
      new cmd heading: 103.708382 deg.

2025-08-08T21:33:57.602Z,1754688837.602 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267490
2025-08-08T21:33:57.854Z,1754688837.854 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519485
2025-08-08T21:33:57.902Z,1754688837.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.10 m.
2025-08-08T21:33:57.905Z,1754688837.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 114.099998 m,
      nav range: 106.919205 m,
      bearing: 103.828439 deg,
      approach rate: -0.709528 m/s,
      LOS rate: -0.009732 deg/s,
      cmd heading: 103.708383 deg,
      new cmd heading: 103.697097 deg.

2025-08-08T21:33:58.105Z,1754688838.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771441
2025-08-08T21:33:58.323Z,1754688838.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.10 m.
2025-08-08T21:33:58.330Z,1754688838.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 114.099998 m,
      nav range: 106.633926 m,
      bearing: 103.821504 deg,
      approach rate: -0.676836 m/s,
      LOS rate: -0.016498 deg/s,
      cmd heading: 103.697100 deg,
      new cmd heading: 103.676239 deg.

2025-08-08T21:33:58.357Z,1754688838.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022970
2025-08-08T21:33:58.610Z,1754688838.610 [DAT](INFO): DAT read: Rx Time:21:33:57.8054

2025-08-08T21:33:58.611Z,1754688838.611 [DAT](INFO): Rx dataTimestamp_ set to:1754688838.610425
2025-08-08T21:33:58.612Z,1754688838.612 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277635
2025-08-08T21:33:58.728Z,1754688838.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.10 m.
2025-08-08T21:33:58.731Z,1754688838.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 114.099998 m,
      nav range: 106.339134 m,
      bearing: 103.814659 deg,
      approach rate: -0.733602 m/s,
      LOS rate: -0.017080 deg/s,
      cmd heading: 103.676241 deg,
      new cmd heading: 103.655650 deg.

2025-08-08T21:33:58.861Z,1754688838.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527494
2025-08-08T21:33:59.091Z,1754688839.091 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-08T21:33:59.093Z,1754688839.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 114.10 m.
2025-08-08T21:33:59.096Z,1754688839.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 114.099998 m,
      nav range: 106.071617 m,
      bearing: 103.808415 deg,
      approach rate: -0.727520 m/s,
      LOS rate: -0.017025 deg/s,
      cmd heading: 103.655648 deg,
      new cmd heading: 103.636867 deg.

2025-08-08T21:33:59.118Z,1754688839.118 [DAT](INFO): DAT read: 21:33:57.8054 LVL= 26160, 30369, 24978, 32755, AGC= 66, IDX= 396,-0.26,-0.111,-1.755, 0.080,-0.408, PHS= 0.399,-1.302, 0.444, RAW= 151.3,   5.4, CAL= 150.5,   5.5, ROT= 359.5,  -5.5

2025-08-08T21:33:59.119Z,1754688839.119 [DAT](INFO): got valid direction response:
 21:33:57.8054 LVL= 26160, 30369, 24978, 32755, AGC= 66, IDX= 396,-0.26,-0.111,-1.755, 0.080,-0.408, PHS= 0.399,-1.302, 0.444, RAW= 151.3,   5.4, CAL= 150.5,   5.5, ROT= 359.5,  -5.5

2025-08-08T21:33:59.121Z,1754688839.121 [DAT](INFO): DAT read: Bearing 267.2,   9.6 (Local)

2025-08-08T21:33:59.122Z,1754688839.122 [DAT](INFO): Local bearing/azimuth received:
 Bearing 267.2,   9.6 (Local)

2025-08-08T21:33:59.123Z,1754688839.123 [DAT](INFO): DAT read: Range 11 to 50 : 111.3 m  (Round-trip  148.4 ms) speed  0.6 m/s

2025-08-08T21:33:59.124Z,1754688839.124 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-08T21:33:59.125Z,1754688839.125 [DAT](INFO): direction in FSK: [0.995358,-0.008686,0.095846]
2025-08-08T21:33:59.125Z,1754688839.125 [DAT](INFO): publishing direction and range info
2025-08-08T21:33:59.136Z,1754688839.136 [DAT](INFO): ****** received valid address query ******
2025-08-08T21:33:59.136Z,1754688839.136 [DAT](INFO): ****** received valid ping request ******
2025-08-08T21:33:59.137Z,1754688839.137 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-08T21:33:59.365Z,1754688839.365 [DAT](INFO): DAT read: user:1195>

2025-08-08T21:33:59.366Z,1754688839.366 [DAT](INFO): DAT read: Tx time:21:33:59.1529

2025-08-08T21:33:59.366Z,1754688839.366 [DAT](INFO): Ping request sent.
2025-08-08T21:33:59.366Z,1754688839.366 [DAT](INFO): transmitted an acoustic signal
2025-08-08T21:33:59.366Z,1754688839.366 [DAT](INFO): publishing transmit ping time
2025-08-08T21:33:59.367Z,1754688839.367 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000765
2025-08-08T21:33:59.515Z,1754688839.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 111.300003 m,
      deltaT: 4.030977 s,
      deltaX: -2.799995 m,
      approachRate: -0.694620 m/s,
      rangeRepo size: 4

2025-08-08T21:33:59.517Z,1754688839.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 111.300003 m,
      bearing: 103.797857 deg,
      lat: 36.905956 deg,
      lon: -122.115900 deg,
      deltaT: 4.030977 s,
      deltaX: -2.799995 m,
      approachRate: -0.694620 m/s,
      posRepo size: 4

2025-08-08T21:33:59.518Z,1754688839.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.30 m.
2025-08-08T21:33:59.521Z,1754688839.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 111.300003 m,
      nav range: 105.777191 m,
      bearing: 103.797857 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.017025 deg/s,
      cmd heading: 103.636865 deg,
      new cmd heading: 103.615361 deg.

2025-08-08T21:33:59.618Z,1754688839.618 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252289
2025-08-08T21:33:59.869Z,1754688839.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502835
2025-08-08T21:33:59.909Z,1754688839.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.30 m.
2025-08-08T21:33:59.913Z,1754688839.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 111.300003 m,
      nav range: 105.494835 m,
      bearing: 103.787814 deg,
      approach rate: -0.713951 m/s,
      LOS rate: -0.025460 deg/s,
      cmd heading: 103.615363 deg,
      new cmd heading: 103.585156 deg.

2025-08-08T21:34:00.121Z,1754688840.121 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754726
2025-08-08T21:34:00.331Z,1754688840.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.30 m.
2025-08-08T21:34:00.334Z,1754688840.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 111.300003 m,
      nav range: 105.190613 m,
      bearing: 103.775708 deg,
      approach rate: -0.721364 m/s,
      LOS rate: -0.028789 deg/s,
      cmd heading: 103.585153 deg,
      new cmd heading: 103.548729 deg.

2025-08-08T21:34:00.374Z,1754688840.374 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007562
2025-08-08T21:34:00.625Z,1754688840.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258982
2025-08-08T21:34:00.711Z,1754688840.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.30 m.
2025-08-08T21:34:00.718Z,1754688840.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 111.300003 m,
      nav range: 104.925087 m,
      bearing: 103.765211 deg,
      approach rate: -0.698769 m/s,
      LOS rate: -0.027695 deg/s,
      cmd heading: 103.548728 deg,
      new cmd heading: 103.517156 deg.

2025-08-08T21:34:00.877Z,1754688840.877 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510733
2025-08-08T21:34:01.101Z,1754688841.101 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-08T21:34:01.103Z,1754688841.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.30 m.
2025-08-08T21:34:01.106Z,1754688841.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 111.300003 m,
      nav range: 104.633789 m,
      bearing: 103.754121 deg,
      approach rate: -0.742510 m/s,
      LOS rate: -0.028345 deg/s,
      cmd heading: 103.517159 deg,
      new cmd heading: 103.483798 deg.

2025-08-08T21:34:01.129Z,1754688841.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762560
2025-08-08T21:34:01.382Z,1754688841.382 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015668
2025-08-08T21:34:01.529Z,1754688841.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.30 m.
2025-08-08T21:34:01.532Z,1754688841.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 111.300003 m,
      nav range: 104.328987 m,
      bearing: 103.743094 deg,
      approach rate: -0.715849 m/s,
      LOS rate: -0.025973 deg/s,
      cmd heading: 103.483800 deg,
      new cmd heading: 103.450622 deg.

2025-08-08T21:34:01.633Z,1754688841.633 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266941
2025-08-08T21:34:01.886Z,1754688841.886 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520130
2025-08-08T21:34:02.030Z,1754688842.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.30 m.
2025-08-08T21:34:02.036Z,1754688842.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 111.300003 m,
      nav range: 103.981804 m,
      bearing: 103.730960 deg,
      approach rate: -0.694022 m/s,
      LOS rate: -0.024336 deg/s,
      cmd heading: 103.450619 deg,
      new cmd heading: 103.414096 deg.

2025-08-08T21:34:02.139Z,1754688842.139 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772725
2025-08-08T21:34:02.389Z,1754688842.389 [DAT](INFO): DAT read: Rx Time:21:34:01.7019

2025-08-08T21:34:02.389Z,1754688842.389 [DAT](INFO): Rx dataTimestamp_ set to:1754688842.389102
2025-08-08T21:34:02.390Z,1754688842.390 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023816
2025-08-08T21:34:02.533Z,1754688842.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 111.30 m.
2025-08-08T21:34:02.536Z,1754688842.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 111.300003 m,
      nav range: 103.611038 m,
      bearing: 103.718152 deg,
      approach rate: -0.736624 m/s,
      LOS rate: -0.025537 deg/s,
      cmd heading: 103.414098 deg,
      new cmd heading: 103.375536 deg.

2025-08-08T21:34:02.641Z,1754688842.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275206
2025-08-08T21:34:02.898Z,1754688842.898 [DAT](INFO): DAT read: 21:34:01.7019 LVL= 25040, 31985, 25442, 32755, AGC= 70, IDX= 409,-0.44,-2.632, 1.984,-2.435,-2.891, PHS= 0.361,-1.363, 0.412, RAW= 151.5,   6.8, CAL= 150.8,   7.2, ROT= 359.2,  -7.2

2025-08-08T21:34:02.899Z,1754688842.899 [DAT](INFO): got valid direction response:
 21:34:01.7019 LVL= 25040, 31985, 25442, 32755, AGC= 70, IDX= 409,-0.44,-2.632, 1.984,-2.435,-2.891, PHS= 0.361,-1.363, 0.412, RAW= 151.5,   6.8, CAL= 150.8,   7.2, ROT= 359.2,  -7.2

2025-08-08T21:34:02.900Z,1754688842.900 [DAT](INFO): DAT read: Bearing 268.0,   5.3 (Local)

2025-08-08T21:34:02.901Z,1754688842.901 [DAT](INFO): Local bearing/azimuth received:
 Bearing 268.0,   5.3 (Local)

2025-08-08T21:34:02.902Z,1754688842.902 [DAT](INFO): DAT read: Range 11 to 50 : 108.6 m  (Round-trip  144.9 ms) speed  0.7 m/s

2025-08-08T21:34:02.903Z,1754688842.903 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-08T21:34:02.903Z,1754688842.903 [DAT](INFO): direction in FSK: [0.992018,-0.013852,0.125333]
2025-08-08T21:34:02.904Z,1754688842.904 [DAT](INFO): publishing direction and range info
2025-08-08T21:34:02.907Z,1754688842.907 [DAT](INFO): ****** received valid address query ******
2025-08-08T21:34:02.907Z,1754688842.907 [DAT](INFO): ****** received valid ping request ******
2025-08-08T21:34:02.907Z,1754688842.907 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-08T21:34:03.017Z,1754688843.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 108.599998 m,
      deltaT: 3.779893 s,
      deltaX: -2.700005 m,
      approachRate: -0.714307 m/s,
      rangeRepo size: 4

2025-08-08T21:34:03.019Z,1754688843.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 108.599998 m,
      bearing: 103.546825 deg,
      lat: 36.905958 deg,
      lon: -122.115895 deg,
      deltaT: 3.779893 s,
      deltaX: -2.700005 m,
      approachRate: -0.714307 m/s,
      posRepo size: 4

2025-08-08T21:34:03.020Z,1754688843.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.60 m.
2025-08-08T21:34:03.026Z,1754688843.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 108.599998 m,
      nav range: 103.666595 m,
      bearing: 103.546825 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.025537 deg/s,
      cmd heading: 103.375535 deg,
      new cmd heading: 103.338841 deg.

2025-08-08T21:34:03.146Z,1754688843.146 [DAT](INFO): DAT read: user:1196>

2025-08-08T21:34:03.147Z,1754688843.147 [DAT](INFO): DAT read: Tx time:21:34:02.9029

2025-08-08T21:34:03.148Z,1754688843.148 [DAT](INFO): Ping request sent.
2025-08-08T21:34:03.149Z,1754688843.149 [DAT](INFO): transmitted an acoustic signal
2025-08-08T21:34:03.149Z,1754688843.149 [DAT](INFO): publishing transmit ping time
2025-08-08T21:34:03.150Z,1754688843.150 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001528
2025-08-08T21:34:03.373Z,1754688843.373 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-08T21:34:03.375Z,1754688843.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.60 m.
2025-08-08T21:34:03.378Z,1754688843.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 108.599998 m,
      nav range: 103.394524 m,
      bearing: 103.538682 deg,
      approach rate: -0.749877 m/s,
      LOS rate: -0.022503 deg/s,
      cmd heading: 103.338843 deg,
      new cmd heading: 103.314349 deg.

2025-08-08T21:34:03.397Z,1754688843.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.248361
2025-08-08T21:34:03.649Z,1754688843.649 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501049
2025-08-08T21:34:03.767Z,1754688843.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.60 m.
2025-08-08T21:34:03.770Z,1754688843.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 108.599998 m,
      nav range: 103.122902 m,
      bearing: 103.530595 deg,
      approach rate: -0.692953 m/s,
      LOS rate: -0.020685 deg/s,
      cmd heading: 103.314350 deg,
      new cmd heading: 103.290025 deg.

2025-08-08T21:34:03.901Z,1754688843.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752484
2025-08-08T21:34:04.154Z,1754688844.154 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005773
2025-08-08T21:34:04.192Z,1754688844.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.60 m.
2025-08-08T21:34:04.195Z,1754688844.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 108.599998 m,
      nav range: 102.821075 m,
      bearing: 103.521559 deg,
      approach rate: -0.709397 m/s,
      LOS rate: -0.021301 deg/s,
      cmd heading: 103.290027 deg,
      new cmd heading: 103.262839 deg.

2025-08-08T21:34:04.406Z,1754688844.406 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257651
2025-08-08T21:34:04.588Z,1754688844.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.60 m.
2025-08-08T21:34:04.591Z,1754688844.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 108.599998 m,
      nav range: 102.514473 m,
      bearing: 103.516268 deg,
      approach rate: -0.774329 m/s,
      LOS rate: -0.013401 deg/s,
      cmd heading: 103.262837 deg,
      new cmd heading: 103.246917 deg.

2025-08-08T21:34:04.658Z,1754688844.658 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509466
2025-08-08T21:34:04.909Z,1754688844.909 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760395
2025-08-08T21:34:05.054Z,1754688845.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.60 m.
2025-08-08T21:34:05.057Z,1754688845.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 108.599998 m,
      nav range: 102.164299 m,
      bearing: 103.510227 deg,
      approach rate: -0.750995 m/s,
      LOS rate: -0.013001 deg/s,
      cmd heading: 103.246915 deg,
      new cmd heading: 103.228729 deg.

2025-08-08T21:34:05.161Z,1754688845.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013002
2025-08-08T21:34:05.413Z,1754688845.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264490
2025-08-08T21:34:05.494Z,1754688845.494 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-08T21:34:05.497Z,1754688845.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.60 m.
2025-08-08T21:34:05.499Z,1754688845.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 108.599998 m,
      nav range: 101.840469 m,
      bearing: 103.507127 deg,
      approach rate: -0.731780 m/s,
      LOS rate: -0.007027 deg/s,
      cmd heading: 103.228727 deg,
      new cmd heading: 103.219398 deg.

2025-08-08T21:34:05.665Z,1754688845.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516480
2025-08-08T21:34:05.917Z,1754688845.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768917
2025-08-08T21:34:05.967Z,1754688845.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.60 m.
2025-08-08T21:34:05.969Z,1754688845.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 108.599998 m,
      nav range: 101.495651 m,
      bearing: 103.503856 deg,
      approach rate: -0.734135 m/s,
      LOS rate: -0.006988 deg/s,
      cmd heading: 103.219397 deg,
      new cmd heading: 103.209550 deg.

2025-08-08T21:34:06.170Z,1754688846.170 [DAT](INFO): DAT read: Rx Time:21:34:05.4481

2025-08-08T21:34:06.170Z,1754688846.170 [DAT](INFO): Rx dataTimestamp_ set to:1754688846.169795
2025-08-08T21:34:06.171Z,1754688846.171 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022664
2025-08-08T21:34:06.421Z,1754688846.421 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272587
2025-08-08T21:34:06.434Z,1754688846.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.60 m.
2025-08-08T21:34:06.441Z,1754688846.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 108.599998 m,
      nav range: 101.159630 m,
      bearing: 103.502416 deg,
      approach rate: -0.718712 m/s,
      LOS rate: -0.003091 deg/s,
      cmd heading: 103.209547 deg,
      new cmd heading: 103.205212 deg.

2025-08-08T21:34:06.679Z,1754688846.679 [DAT](INFO): DAT read: 21:34:05.4481 LVL= 26384, 32753, 22578, 32755, AGC= 68, IDX= 401, 0.31, 1.459,-0.227, 1.717, 1.225, PHS= 0.336,-1.407, 0.447, RAW= 153.1,   7.0, CAL= 152.5,   7.3, ROT= 357.5,  -7.3

2025-08-08T21:34:06.681Z,1754688846.681 [DAT](INFO): got valid direction response:
 21:34:05.4481 LVL= 26384, 32753, 22578, 32755, AGC= 68, IDX= 401, 0.31, 1.459,-0.227, 1.717, 1.225, PHS= 0.336,-1.407, 0.447, RAW= 153.1,   7.0, CAL= 152.5,   7.3, ROT= 357.5,  -7.3

2025-08-08T21:34:06.681Z,1754688846.681 [DAT](INFO): DAT read: Bearing 267.3,   0.7 (Local)

2025-08-08T21:34:06.682Z,1754688846.682 [DAT](INFO): Local bearing/azimuth received:
 Bearing 267.3,   0.7 (Local)

2025-08-08T21:34:06.687Z,1754688846.687 [DAT](INFO): DAT read: Range 11 to 50 : 105.8 m  (Round-trip  141.1 ms) speed  0.8 m/s

2025-08-08T21:34:06.692Z,1754688846.692 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-08T21:34:06.693Z,1754688846.693 [DAT](INFO): direction in FSK: [0.990950,-0.043266,0.127065]
2025-08-08T21:34:06.694Z,1754688846.694 [DAT](INFO): publishing direction and range info
2025-08-08T21:34:06.706Z,1754688846.706 [DAT](INFO): ****** received valid address query ******
2025-08-08T21:34:06.706Z,1754688846.706 [DAT](INFO): ****** received valid ping request ******
2025-08-08T21:34:06.706Z,1754688846.706 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-08T21:34:06.878Z,1754688846.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 105.800003 m,
      deltaT: 3.780812 s,
      deltaX: -2.799995 m,
      approachRate: -0.740580 m/s,
      rangeRepo size: 4

2025-08-08T21:34:06.884Z,1754688846.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 105.800003 m,
      bearing: 103.318750 deg,
      lat: 36.905958 deg,
      lon: -122.115881 deg,
      deltaT: 3.780812 s,
      deltaX: -2.799995 m,
      approachRate: -0.740580 m/s,
      posRepo size: 4

2025-08-08T21:34:06.885Z,1754688846.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.80 m.
2025-08-08T21:34:06.892Z,1754688846.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 105.800003 m,
      nav range: 102.070503 m,
      bearing: 103.318750 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.003091 deg/s,
      cmd heading: 103.205210 deg,
      new cmd heading: 103.201101 deg.

2025-08-08T21:34:06.925Z,1754688846.925 [DAT](INFO): DAT read: user:1197>

2025-08-08T21:34:06.926Z,1754688846.926 [DAT](INFO): DAT read: Tx time:21:34:06.7029

2025-08-08T21:34:06.926Z,1754688846.926 [DAT](INFO): Ping request sent.
2025-08-08T21:34:06.926Z,1754688846.926 [DAT](INFO): transmitted an acoustic signal
2025-08-08T21:34:06.926Z,1754688846.926 [DAT](INFO): publishing transmit ping time
2025-08-08T21:34:06.927Z,1754688846.927 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000781
2025-08-08T21:34:07.178Z,1754688847.178 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251306
2025-08-08T21:34:07.247Z,1754688847.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.80 m.
2025-08-08T21:34:07.250Z,1754688847.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 105.800003 m,
      nav range: 101.781250 m,
      bearing: 103.317190 deg,
      approach rate: -0.781455 m/s,
      LOS rate: -0.004226 deg/s,
      cmd heading: 103.201098 deg,
      new cmd heading: 103.196406 deg.

2025-08-08T21:34:07.429Z,1754688847.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502918
2025-08-08T21:34:07.681Z,1754688847.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755038
2025-08-08T21:34:07.692Z,1754688847.692 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-08T21:34:07.694Z,1754688847.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.80 m.
2025-08-08T21:34:07.697Z,1754688847.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 105.800003 m,
      nav range: 101.467773 m,
      bearing: 103.316625 deg,
      approach rate: -0.701379 m/s,
      LOS rate: -0.001270 deg/s,
      cmd heading: 103.196406 deg,
      new cmd heading: 103.194703 deg.

2025-08-08T21:34:07.933Z,1754688847.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007203
2025-08-08T21:34:08.073Z,1754688848.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.80 m.
2025-08-08T21:34:08.075Z,1754688848.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 105.800003 m,
      nav range: 101.216133 m,
      bearing: 103.316266 deg,
      approach rate: -0.666828 m/s,
      LOS rate: -0.000953 deg/s,
      cmd heading: 103.194705 deg,
      new cmd heading: 103.193627 deg.

2025-08-08T21:34:08.185Z,1754688848.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258769
2025-08-08T21:34:08.441Z,1754688848.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514330
2025-08-08T21:34:08.555Z,1754688848.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.80 m.
2025-08-08T21:34:08.558Z,1754688848.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 105.800003 m,
      nav range: 100.869560 m,
      bearing: 103.315912 deg,
      approach rate: -0.716720 m/s,
      LOS rate: -0.000734 deg/s,
      cmd heading: 103.193626 deg,
      new cmd heading: 103.192562 deg.

2025-08-08T21:34:08.691Z,1754688848.691 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764590
2025-08-08T21:34:08.937Z,1754688848.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.80 m.
2025-08-08T21:34:08.941Z,1754688848.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014952
2025-08-08T21:34:08.944Z,1754688848.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 105.800003 m,
      nav range: 100.608788 m,
      bearing: 103.315809 deg,
      approach rate: -0.682869 m/s,
      LOS rate: -0.000272 deg/s,
      cmd heading: 103.192561 deg,
      new cmd heading: 103.192249 deg.

2025-08-08T21:34:09.193Z,1754688849.193 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266909
2025-08-08T21:34:09.445Z,1754688849.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518848
2025-08-08T21:34:09.463Z,1754688849.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.80 m.
2025-08-08T21:34:09.482Z,1754688849.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 105.800003 m,
      nav range: 100.261330 m,
      bearing: 103.310725 deg,
      approach rate: -0.660961 m/s,
      LOS rate: -0.009703 deg/s,
      cmd heading: 103.192247 deg,
      new cmd heading: 103.176944 deg.

2025-08-08T21:34:09.698Z,1754688849.698 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771738
2025-08-08T21:34:09.830Z,1754688849.830 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-08T21:34:09.834Z,1754688849.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.80 m.
2025-08-08T21:34:09.838Z,1754688849.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 105.800003 m,
      nav range: 99.994522 m,
      bearing: 103.306935 deg,
      approach rate: -0.719592 m/s,
      LOS rate: -0.010250 deg/s,
      cmd heading: 103.176947 deg,
      new cmd heading: 103.165545 deg.

2025-08-08T21:34:09.950Z,1754688849.950 [DAT](INFO): DAT read: Rx Time:21:34:09.2445

2025-08-08T21:34:09.950Z,1754688849.950 [DAT](INFO): Rx dataTimestamp_ set to:1754688849.949924
2025-08-08T21:34:09.951Z,1754688849.951 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025120
2025-08-08T21:34:10.201Z,1754688850.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274718
2025-08-08T21:34:10.237Z,1754688850.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 105.80 m.
2025-08-08T21:34:10.240Z,1754688850.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 105.800003 m,
      nav range: 99.712418 m,
      bearing: 103.303044 deg,
      approach rate: -0.698977 m/s,
      LOS rate: -0.009668 deg/s,
      cmd heading: 103.165547 deg,
      new cmd heading: 103.153841 deg.

2025-08-08T21:34:10.458Z,1754688850.458 [DAT](INFO): DAT read: 21:34:09.2445 LVL= 27376, 32497, 24562, 32755, AGC= 69, IDX= 412,-0.07, 1.651,-0.047, 1.976, 1.436, PHS= 0.316,-1.439, 0.495, RAW= 154.8,   6.8, CAL= 154.2,   7.0, ROT= 355.8,  -7.0

2025-08-08T21:34:10.459Z,1754688850.459 [DAT](INFO): got valid direction response:
 21:34:09.2445 LVL= 27376, 32497, 24562, 32755, AGC= 69, IDX= 412,-0.07, 1.651,-0.047, 1.976, 1.436, PHS= 0.316,-1.439, 0.495, RAW= 154.8,   6.8, CAL= 154.2,   7.0, ROT= 355.8,  -7.0

2025-08-08T21:34:10.460Z,1754688850.460 [DAT](INFO): DAT read: Bearing 266.5,  -2.7 (Local)

2025-08-08T21:34:10.460Z,1754688850.460 [DAT](INFO): Local bearing/azimuth received:
 Bearing 266.5,  -2.7 (Local)

2025-08-08T21:34:10.462Z,1754688850.462 [DAT](INFO): DAT read: Range 11 to 50 : 103.1 m  (Round-trip  137.5 ms) speed  0.8 m/s

2025-08-08T21:34:10.462Z,1754688850.462 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-08T21:34:10.463Z,1754688850.463 [DAT](INFO): direction in FSK: [0.989881,-0.072692,0.121869]
2025-08-08T21:34:10.464Z,1754688850.464 [DAT](INFO): publishing direction and range info
2025-08-08T21:34:10.467Z,1754688850.467 [DAT](INFO): ****** received valid address query ******
2025-08-08T21:34:10.468Z,1754688850.468 [DAT](INFO): ****** received valid ping request ******
2025-08-08T21:34:10.471Z,1754688850.471 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-08T21:34:10.705Z,1754688850.705 [DAT](INFO): DAT read: user:1198>

2025-08-08T21:34:10.706Z,1754688850.706 [DAT](INFO): DAT read: Tx time:21:34:10.4529

2025-08-08T21:34:10.706Z,1754688850.706 [DAT](INFO): Ping request sent.
2025-08-08T21:34:10.706Z,1754688850.706 [DAT](INFO): transmitted an acoustic signal
2025-08-08T21:34:10.706Z,1754688850.706 [DAT](INFO): publishing transmit ping time
2025-08-08T21:34:10.707Z,1754688850.707 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000760
2025-08-08T21:34:10.784Z,1754688850.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 103.099998 m,
      deltaT: 3.779149 s,
      deltaX: -2.700005 m,
      approachRate: -0.714448 m/s,
      rangeRepo size: 4

2025-08-08T21:34:10.787Z,1754688850.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 103.099998 m,
      bearing: 103.074406 deg,
      lat: 36.905960 deg,
      lon: -122.115872 deg,
      deltaT: 3.779149 s,
      deltaX: -2.700005 m,
      approachRate: -0.714448 m/s,
      posRepo size: 4

2025-08-08T21:34:10.787Z,1754688850.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.10 m.
2025-08-08T21:34:10.794Z,1754688850.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.099998 m,
      nav range: 100.023407 m,
      bearing: 103.074406 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.009668 deg/s,
      cmd heading: 103.153840 deg,
      new cmd heading: 103.139037 deg.

2025-08-08T21:34:10.957Z,1754688850.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250852
2025-08-08T21:34:11.156Z,1754688851.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.10 m.
2025-08-08T21:34:11.159Z,1754688851.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.099998 m,
      nav range: 99.759377 m,
      bearing: 103.068988 deg,
      approach rate: -0.649315 m/s,
      LOS rate: -0.013358 deg/s,
      cmd heading: 103.139039 deg,
      new cmd heading: 103.122744 deg.

2025-08-08T21:34:11.209Z,1754688851.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503288
2025-08-08T21:34:11.461Z,1754688851.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754895
2025-08-08T21:34:11.688Z,1754688851.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.10 m.
2025-08-08T21:34:11.691Z,1754688851.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.099998 m,
      nav range: 99.383667 m,
      bearing: 103.053671 deg,
      approach rate: -0.703698 m/s,
      LOS rate: -0.028798 deg/s,
      cmd heading: 103.122743 deg,
      new cmd heading: 103.076616 deg.

2025-08-08T21:34:11.713Z,1754688851.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006964
2025-08-08T21:34:11.966Z,1754688851.966 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259313
2025-08-08T21:34:12.062Z,1754688852.062 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-08T21:34:12.065Z,1754688852.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.10 m.
2025-08-08T21:34:12.068Z,1754688852.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.099998 m,
      nav range: 99.141602 m,
      bearing: 103.043883 deg,
      approach rate: -0.642237 m/s,
      LOS rate: -0.026032 deg/s,
      cmd heading: 103.076618 deg,
      new cmd heading: 103.047183 deg.

2025-08-08T21:34:12.218Z,1754688852.218 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511688
2025-08-08T21:34:12.469Z,1754688852.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763250
2025-08-08T21:34:12.541Z,1754688852.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.10 m.
2025-08-08T21:34:12.544Z,1754688852.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.099998 m,
      nav range: 98.799545 m,
      bearing: 103.025692 deg,
      approach rate: -0.718974 m/s,
      LOS rate: -0.038368 deg/s,
      cmd heading: 103.047180 deg,
      new cmd heading: 102.992419 deg.

2025-08-08T21:34:12.721Z,1754688852.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014868
2025-08-08T21:34:12.935Z,1754688852.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.10 m.
2025-08-08T21:34:12.945Z,1754688852.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.099998 m,
      nav range: 98.532913 m,
      bearing: 103.011468 deg,
      approach rate: -0.677030 m/s,
      LOS rate: -0.036215 deg/s,
      cmd heading: 102.992416 deg,
      new cmd heading: 102.949628 deg.

2025-08-08T21:34:12.973Z,1754688852.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266868
2025-08-08T21:34:13.225Z,1754688853.225 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518840
2025-08-08T21:34:13.326Z,1754688853.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.10 m.
2025-08-08T21:34:13.333Z,1754688853.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.099998 m,
      nav range: 98.268135 m,
      bearing: 102.997284 deg,
      approach rate: -0.677224 m/s,
      LOS rate: -0.036377 deg/s,
      cmd heading: 102.949631 deg,
      new cmd heading: 102.906963 deg.

2025-08-08T21:34:13.477Z,1754688853.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770863
2025-08-08T21:34:13.729Z,1754688853.729 [DAT](INFO): DAT read: Rx Time:21:34:12.9913

2025-08-08T21:34:13.729Z,1754688853.729 [DAT](INFO): Rx dataTimestamp_ set to:1754688853.729188
2025-08-08T21:34:13.730Z,1754688853.730 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024095
2025-08-08T21:34:13.760Z,1754688853.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.10 m.
2025-08-08T21:34:13.763Z,1754688853.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.099998 m,
      nav range: 97.966591 m,
      bearing: 102.980381 deg,
      approach rate: -0.700687 m/s,
      LOS rate: -0.039397 deg/s,
      cmd heading: 102.906963 deg,
      new cmd heading: 102.856099 deg.

2025-08-08T21:34:13.981Z,1754688853.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274839
2025-08-08T21:34:14.179Z,1754688854.179 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-08T21:34:14.185Z,1754688854.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.10 m.
2025-08-08T21:34:14.196Z,1754688854.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 103.099998 m,
      nav range: 97.662659 m,
      bearing: 102.963103 deg,
      approach rate: -0.707482 m/s,
      LOS rate: -0.040344 deg/s,
      cmd heading: 102.856099 deg,
      new cmd heading: 102.804103 deg.

2025-08-08T21:34:14.241Z,1754688854.241 [DAT](INFO): DAT read: 21:34:12.9913 LVL= 29776, 32753, 29410, 32755, AGC= 71, IDX= 411, 0.03,-2.415, 2.201,-2.116,-2.636, PHS= 0.324,-1.401, 0.476, RAW= 154.2,   6.7, CAL= 153.6,   6.9, ROT= 356.4,  -6.9

2025-08-08T21:34:14.242Z,1754688854.242 [DAT](INFO): got valid direction response:
 21:34:12.9913 LVL= 29776, 32753, 29410, 32755, AGC= 71, IDX= 411, 0.03,-2.415, 2.201,-2.116,-2.636, PHS= 0.324,-1.401, 0.476, RAW= 154.2,   6.7, CAL= 153.6,   6.9, ROT= 356.4,  -6.9

2025-08-08T21:34:14.243Z,1754688854.243 [DAT](INFO): DAT read: Bearing 266.3,  -2.7 (Local)

2025-08-08T21:34:14.243Z,1754688854.243 [DAT](INFO): Local bearing/azimuth received:
 Bearing 266.3,  -2.7 (Local)

2025-08-08T21:34:14.245Z,1754688854.245 [DAT](INFO): DAT read: Range 11 to 50 : 100.6 m  (Round-trip  134.2 ms) speed  0.4 m/s

2025-08-08T21:34:14.246Z,1754688854.246 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-08T21:34:14.247Z,1754688854.247 [DAT](INFO): direction in FSK: [0.990798,-0.062336,0.120137]
2025-08-08T21:34:14.248Z,1754688854.248 [DAT](INFO): publishing direction and range info
2025-08-08T21:34:14.270Z,1754688854.270 [DAT](INFO): ****** received valid address query ******
2025-08-08T21:34:14.270Z,1754688854.270 [DAT](INFO): ****** received valid ping request ******
2025-08-08T21:34:14.270Z,1754688854.270 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-08T21:34:14.485Z,1754688854.485 [DAT](INFO): DAT read: user:1199>

2025-08-08T21:34:14.486Z,1754688854.486 [DAT](INFO): DAT read: Tx time:21:34:14.2544

2025-08-08T21:34:14.486Z,1754688854.486 [DAT](INFO): Ping request sent.
2025-08-08T21:34:14.486Z,1754688854.486 [DAT](INFO): transmitted an acoustic signal
2025-08-08T21:34:14.486Z,1754688854.486 [DAT](INFO): publishing transmit ping time
2025-08-08T21:34:14.487Z,1754688854.487 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000753
2025-08-08T21:34:14.601Z,1754688854.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 100.599998 m,
      deltaT: 3.782193 s,
      deltaX: -2.500000 m,
      approachRate: -0.660992 m/s,
      rangeRepo size: 4

2025-08-08T21:34:14.603Z,1754688854.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 100.599998 m,
      bearing: 100.960161 deg,
      lat: 36.905988 deg,
      lon: -122.115851 deg,
      deltaT: 3.782193 s,
      deltaX: -2.500000 m,
      approachRate: -0.660992 m/s,
      posRepo size: 4

2025-08-08T21:34:14.603Z,1754688854.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.60 m.
2025-08-08T21:34:14.618Z,1754688854.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 100.599998 m,
      nav range: 98.546394 m,
      bearing: 100.960161 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.040344 deg/s,
      cmd heading: 102.804101 deg,
      new cmd heading: 102.754441 deg.

2025-08-08T21:34:14.737Z,1754688854.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250918
2025-08-08T21:34:14.989Z,1754688854.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503338
2025-08-08T21:34:15.104Z,1754688855.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.60 m.
2025-08-08T21:34:15.107Z,1754688855.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 100.599998 m,
      nav range: 98.158295 m,
      bearing: 100.930678 deg,
      approach rate: -0.763044 m/s,
      LOS rate: -0.058196 deg/s,
      cmd heading: 102.754438 deg,
      new cmd heading: 102.665639 deg.

2025-08-08T21:34:15.242Z,1754688855.242 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756147
2025-08-08T21:34:15.498Z,1754688855.498 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.011617
2025-08-08T21:34:15.558Z,1754688855.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.60 m.
2025-08-08T21:34:15.561Z,1754688855.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 100.599998 m,
      nav range: 97.812996 m,
      bearing: 100.908475 deg,
      approach rate: -0.760890 m/s,
      LOS rate: -0.049099 deg/s,
      cmd heading: 102.665639 deg,
      new cmd heading: 102.598794 deg.

2025-08-08T21:34:15.745Z,1754688855.745 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258878
2025-08-08T21:34:15.993Z,1754688855.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.60 m.
2025-08-08T21:34:15.997Z,1754688855.997 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511103
2025-08-08T21:34:15.996Z,1754688855.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 100.599998 m,
      nav range: 97.486992 m,
      bearing: 100.887059 deg,
      approach rate: -0.750243 m/s,
      LOS rate: -0.049448 deg/s,
      cmd heading: 102.598792 deg,
      new cmd heading: 102.534331 deg.

2025-08-08T21:34:16.249Z,1754688856.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762865
2025-08-08T21:34:16.421Z,1754688856.421 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-08T21:34:16.447Z,1754688856.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.60 m.
2025-08-08T21:34:16.469Z,1754688856.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 100.599998 m,
      nav range: 97.188889 m,
      bearing: 100.867095 deg,
      approach rate: -0.657724 m/s,
      LOS rate: -0.044183 deg/s,
      cmd heading: 102.534329 deg,
      new cmd heading: 102.474253 deg.

2025-08-08T21:34:16.508Z,1754688856.508 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.021939
2025-08-08T21:34:16.761Z,1754688856.761 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.274896
2025-08-08T21:34:16.848Z,1754688856.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.60 m.
2025-08-08T21:34:16.860Z,1754688856.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 100.599998 m,
      nav range: 96.853424 m,
      bearing: 100.848086 deg,
      approach rate: -0.844280 m/s,
      LOS rate: -0.048007 deg/s,
      cmd heading: 102.474250 deg,
      new cmd heading: 102.417025 deg.

2025-08-08T21:34:17.013Z,1754688857.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.526860
2025-08-08T21:34:17.215Z,1754688857.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.60 m.
2025-08-08T21:34:17.218Z,1754688857.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 100.599998 m,
      nav range: 96.558372 m,
      bearing: 100.831257 deg,
      approach rate: -0.793039 m/s,
      LOS rate: -0.045370 deg/s,
      cmd heading: 102.417027 deg,
      new cmd heading: 102.366386 deg.

2025-08-08T21:34:17.265Z,1754688857.265 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.779148
2025-08-08T21:34:17.517Z,1754688857.517 [DAT](INFO): DAT read: Rx Time:21:34:16.7890

2025-08-08T21:34:17.517Z,1754688857.517 [DAT](INFO): Rx dataTimestamp_ set to:1754688857.517109
2025-08-08T21:34:17.518Z,1754688857.518 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.032043
2025-08-08T21:34:17.662Z,1754688857.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.60 m.
2025-08-08T21:34:17.665Z,1754688857.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 100.599998 m,
      nav range: 96.227135 m,
      bearing: 100.818914 deg,
      approach rate: -0.741140 m/s,
      LOS rate: -0.027713 deg/s,
      cmd heading: 102.366388 deg,
      new cmd heading: 102.329230 deg.

2025-08-08T21:34:17.769Z,1754688857.769 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.282961
2025-08-08T21:34:18.019Z,1754688858.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.60 m.
2025-08-08T21:34:18.026Z,1754688858.026 [DAT](INFO): DAT read: 21:34:16.7890 LVL= 27536, 32753, 25026, 32755, AGC= 70, IDX= 404,-0.29,-0.396,-2.032,-0.046,-0.574, PHS= 0.280,-1.413, 0.484, RAW= 155.6,   7.3, CAL= 155.1,   7.5, ROT= 354.9,  -7.5

2025-08-08T21:34:18.027Z,1754688858.027 [DAT](INFO): got valid direction response:
 21:34:16.7890 LVL= 27536, 32753, 25026, 32755, AGC= 70, IDX= 404,-0.29,-0.396,-2.032,-0.046,-0.574, PHS= 0.280,-1.413, 0.484, RAW= 155.6,   7.3, CAL= 155.1,   7.5, ROT= 354.9,  -7.5

2025-08-08T21:34:18.028Z,1754688858.028 [DAT](INFO): DAT read: Bearing 266.9,  -4.2 (Local)

2025-08-08T21:34:18.029Z,1754688858.029 [DAT](INFO): Local bearing/azimuth received:
 Bearing 266.9,  -4.2 (Local)

2025-08-08T21:34:18.030Z,1754688858.030 [DAT](INFO): DAT read: Range 11 to 50 : 97.8 m  (Round-trip  130.4 ms) speed  0.6 m/s

2025-08-08T21:34:18.031Z,1754688858.031 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-08T21:34:18.032Z,1754688858.032 [DAT](INFO): direction in FSK: [0.987520,-0.088134,0.130526]
2025-08-08T21:34:18.032Z,1754688858.032 [DAT](INFO): publishing direction and range info
2025-08-08T21:34:18.036Z,1754688858.036 [DAT](INFO): ****** received valid address query ******
2025-08-08T21:34:18.036Z,1754688858.036 [DAT](INFO): ****** received valid ping request ******
2025-08-08T21:34:18.036Z,1754688858.036 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-08T21:34:18.042Z,1754688858.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 100.599998 m,
      nav range: 95.968735 m,
      bearing: 100.808711 deg,
      approach rate: -0.724753 m/s,
      LOS rate: -0.028693 deg/s,
      cmd heading: 102.329232 deg,
      new cmd heading: 102.298542 deg.

2025-08-08T21:34:18.273Z,1754688858.273 [DAT](INFO): DAT read: user:1200>

2025-08-08T21:34:18.274Z,1754688858.274 [DAT](INFO): DAT read: Tx time:21:34:18.0529

2025-08-08T21:34:18.274Z,1754688858.274 [DAT](INFO): Ping request sent.
2025-08-08T21:34:18.274Z,1754688858.274 [DAT](INFO): transmitted an acoustic signal
2025-08-08T21:34:18.274Z,1754688858.274 [DAT](INFO): publishing transmit ping time
2025-08-08T21:34:18.275Z,1754688858.275 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000744
2025-08-08T21:34:18.430Z,1754688858.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 97.800003 m,
      deltaT: 3.786001 s,
      deltaX: -2.799995 m,
      approachRate: -0.739565 m/s,
      rangeRepo size: 4

2025-08-08T21:34:18.437Z,1754688858.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 97.800003 m,
      bearing: 99.266771 deg,
      lat: 36.906009 deg,
      lon: -122.115838 deg,
      deltaT: 3.786001 s,
      deltaX: -2.799995 m,
      approachRate: -0.739565 m/s,
      posRepo size: 4

2025-08-08T21:34:18.439Z,1754688858.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.80 m.
2025-08-08T21:34:18.479Z,1754688858.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 97.800003 m,
      nav range: 96.432602 m,
      bearing: 99.266771 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.028693 deg/s,
      cmd heading: 102.298544 deg,
      new cmd heading: 102.263231 deg.

2025-08-08T21:34:18.525Z,1754688858.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250888
2025-08-08T21:34:18.777Z,1754688858.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502775
2025-08-08T21:34:19.014Z,1754688859.014 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-08T21:34:19.021Z,1754688859.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.80 m.
2025-08-08T21:34:19.029Z,1754688859.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755032
2025-08-08T21:34:19.030Z,1754688859.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 97.800003 m,
      nav range: 96.009392 m,
      bearing: 99.250132 deg,
      approach rate: -0.715270 m/s,
      LOS rate: -0.028246 deg/s,
      cmd heading: 102.263231 deg,
      new cmd heading: 102.213094 deg.

2025-08-08T21:34:19.281Z,1754688859.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007315
2025-08-08T21:34:19.391Z,1754688859.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.80 m.
2025-08-08T21:34:19.394Z,1754688859.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 97.800003 m,
      nav range: 95.733009 m,
      bearing: 99.239186 deg,
      approach rate: -0.746770 m/s,
      LOS rate: -0.029660 deg/s,
      cmd heading: 102.213091 deg,
      new cmd heading: 102.180159 deg.

2025-08-08T21:34:19.534Z,1754688859.534 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260360
2025-08-08T21:34:19.785Z,1754688859.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510771
2025-08-08T21:34:19.927Z,1754688859.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.80 m.
2025-08-08T21:34:19.930Z,1754688859.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 97.800003 m,
      nav range: 95.357628 m,
      bearing: 99.230716 deg,
      approach rate: -0.699707 m/s,
      LOS rate: -0.015851 deg/s,
      cmd heading: 102.180156 deg,
      new cmd heading: 102.154644 deg.

2025-08-08T21:34:20.037Z,1754688860.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762872
2025-08-08T21:34:20.289Z,1754688860.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015043
2025-08-08T21:34:20.386Z,1754688860.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.80 m.
2025-08-08T21:34:20.389Z,1754688860.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 97.800003 m,
      nav range: 95.036514 m,
      bearing: 99.223736 deg,
      approach rate: -0.699419 m/s,
      LOS rate: -0.015254 deg/s,
      cmd heading: 102.154645 deg,
      new cmd heading: 102.133635 deg.

2025-08-08T21:34:20.541Z,1754688860.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266983
2025-08-08T21:34:20.743Z,1754688860.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.80 m.
2025-08-08T21:34:20.746Z,1754688860.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 97.800003 m,
      nav range: 94.793144 m,
      bearing: 99.219878 deg,
      approach rate: -0.683060 m/s,
      LOS rate: -0.010854 deg/s,
      cmd heading: 102.133635 deg,
      new cmd heading: 102.122033 deg.

2025-08-08T21:34:20.793Z,1754688860.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519499
2025-08-08T21:34:21.045Z,1754688861.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770829
2025-08-08T21:34:21.134Z,1754688861.134 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-08T21:34:21.137Z,1754688861.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.80 m.
2025-08-08T21:34:21.139Z,1754688861.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 97.800003 m,
      nav range: 94.525589 m,
      bearing: 99.215665 deg,
      approach rate: -0.679295 m/s,
      LOS rate: -0.010727 deg/s,
      cmd heading: 102.122031 deg,
      new cmd heading: 102.109355 deg.

2025-08-08T21:34:21.297Z,1754688861.297 [DAT](INFO): DAT read: Rx Time:21:34:20.5838

2025-08-08T21:34:21.297Z,1754688861.297 [DAT](INFO): Rx dataTimestamp_ set to:1754688861.297127
2025-08-08T21:34:21.298Z,1754688861.298 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023997
2025-08-08T21:34:21.552Z,1754688861.552 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277577
2025-08-08T21:34:21.623Z,1754688861.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 97.80 m.
2025-08-08T21:34:21.644Z,1754688861.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 97.800003 m,
      nav range: 94.199791 m,
      bearing: 99.209388 deg,
      approach rate: -0.670919 m/s,
      LOS rate: -0.012972 deg/s,
      cmd heading: 102.109354 deg,
      new cmd heading: 102.090457 deg.

2025-08-08T21:34:21.809Z,1754688861.809 [DAT](INFO): DAT read: 21:34:20.5838 LVL= 29168, 32753, 25890, 32755, AGC= 66, IDX= 399,-0.09, 3.111, 1.467,-2.855, 2.935, PHS= 0.279,-1.422, 0.450, RAW= 154.7,   7.8, CAL= 154.3,   8.2, ROT= 355.7,  -8.2

2025-08-08T21:34:21.810Z,1754688861.810 [DAT](INFO): got valid direction response:
 21:34:20.5838 LVL= 29168, 32753, 25890, 32755, AGC= 66, IDX= 399,-0.09, 3.111, 1.467,-2.855, 2.935, PHS= 0.279,-1.422, 0.450, RAW= 154.7,   7.8, CAL= 154.3,   8.2, ROT= 355.7,  -8.2

2025-08-08T21:34:21.811Z,1754688861.811 [DAT](INFO): DAT read: Bearing 267.8,  -2.6 (Local)

2025-08-08T21:34:21.811Z,1754688861.811 [DAT](INFO): Local bearing/azimuth received:
 Bearing 267.8,  -2.6 (Local)

2025-08-08T21:34:21.813Z,1754688861.813 [DAT](INFO): DAT read: Range 11 to 50 : 95.1 m  (Round-trip  126.8 ms) speed  0.6 m/s

2025-08-08T21:34:21.814Z,1754688861.814 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-08T21:34:21.815Z,1754688861.815 [DAT](INFO): direction in FSK: [0.986990,-0.074212,0.142629]
2025-08-08T21:34:21.815Z,1754688861.815 [DAT](INFO): publishing direction and range info
2025-08-08T21:34:21.818Z,1754688861.818 [DAT](INFO): ****** received valid address query ******
2025-08-08T21:34:21.818Z,1754688861.818 [DAT](INFO): ****** received valid ping request ******
2025-08-08T21:34:21.818Z,1754688861.818 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-08T21:34:21.957Z,1754688861.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 95.099998 m,
      deltaT: 3.780209 s,
      deltaX: -2.700005 m,
      approachRate: -0.714247 m/s,
      rangeRepo size: 4

2025-08-08T21:34:21.959Z,1754688861.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 95.099998 m,
      bearing: 99.205159 deg,
      lat: 36.906009 deg,
      lon: -122.115838 deg,
      deltaT: 3.780209 s,
      deltaX: -2.700005 m,
      approachRate: -0.714247 m/s,
      posRepo size: 4

2025-08-08T21:34:21.968Z,1754688861.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.10 m.
2025-08-08T21:34:21.971Z,1754688861.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 95.099998 m,
      nav range: 93.981544 m,
      bearing: 99.205159 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.012972 deg/s,
      cmd heading: 102.090455 deg,
      new cmd heading: 102.077617 deg.

2025-08-08T21:34:22.053Z,1754688862.053 [DAT](INFO): DAT read: user:1201>

2025-08-08T21:34:22.054Z,1754688862.054 [DAT](INFO): DAT read: Tx time:21:34:21.8029

2025-08-08T21:34:22.054Z,1754688862.054 [DAT](INFO): Ping request sent.
2025-08-08T21:34:22.054Z,1754688862.054 [DAT](INFO): transmitted an acoustic signal
2025-08-08T21:34:22.055Z,1754688862.055 [DAT](INFO): publishing transmit ping time
2025-08-08T21:34:22.055Z,1754688862.055 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000750
2025-08-08T21:34:22.305Z,1754688862.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250895
2025-08-08T21:34:22.346Z,1754688862.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.10 m.
2025-08-08T21:34:22.356Z,1754688862.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 95.099998 m,
      nav range: 93.709045 m,
      bearing: 99.200177 deg,
      approach rate: -0.692328 m/s,
      LOS rate: -0.012694 deg/s,
      cmd heading: 102.077614 deg,
      new cmd heading: 102.062625 deg.

2025-08-08T21:34:22.559Z,1754688862.559 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504257
2025-08-08T21:34:22.752Z,1754688862.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.10 m.
2025-08-08T21:34:22.755Z,1754688862.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 95.099998 m,
      nav range: 93.425446 m,
      bearing: 99.190926 deg,
      approach rate: -0.697994 m/s,
      LOS rate: -0.022837 deg/s,
      cmd heading: 102.062622 deg,
      new cmd heading: 102.034785 deg.

2025-08-08T21:34:22.810Z,1754688862.810 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755608
2025-08-08T21:34:23.061Z,1754688863.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006222
2025-08-08T21:34:23.146Z,1754688863.146 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-08T21:34:23.148Z,1754688863.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.10 m.
2025-08-08T21:34:23.151Z,1754688863.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 95.099998 m,
      nav range: 93.153992 m,
      bearing: 99.182059 deg,
      approach rate: -0.686094 m/s,
      LOS rate: -0.022477 deg/s,
      cmd heading: 102.034782 deg,
      new cmd heading: 102.008103 deg.

2025-08-08T21:34:23.313Z,1754688863.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258252
2025-08-08T21:34:23.568Z,1754688863.568 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512780
2025-08-08T21:34:23.676Z,1754688863.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.10 m.
2025-08-08T21:34:23.678Z,1754688863.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 95.099998 m,
      nav range: 92.789864 m,
      bearing: 99.162183 deg,
      approach rate: -0.689838 m/s,
      LOS rate: -0.037802 deg/s,
      cmd heading: 102.008103 deg,
      new cmd heading: 101.948243 deg.

2025-08-08T21:34:23.817Z,1754688863.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762212
2025-08-08T21:34:24.029Z,1754688864.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.10 m.
2025-08-08T21:34:24.032Z,1754688864.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 95.099998 m,
      nav range: 92.546120 m,
      bearing: 99.148771 deg,
      approach rate: -0.689418 m/s,
      LOS rate: -0.038036 deg/s,
      cmd heading: 101.948244 deg,
      new cmd heading: 101.907900 deg.

2025-08-08T21:34:24.069Z,1754688864.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014347
2025-08-08T21:34:24.322Z,1754688864.322 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267190
2025-08-08T21:34:24.446Z,1754688864.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.10 m.
2025-08-08T21:34:24.449Z,1754688864.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 95.099998 m,
      nav range: 92.269905 m,
      bearing: 99.133285 deg,
      approach rate: -0.663016 m/s,
      LOS rate: -0.037283 deg/s,
      cmd heading: 101.907898 deg,
      new cmd heading: 101.861302 deg.

2025-08-08T21:34:24.576Z,1754688864.576 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520689
2025-08-08T21:34:24.825Z,1754688864.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770633
2025-08-08T21:34:24.950Z,1754688864.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.10 m.
2025-08-08T21:34:24.953Z,1754688864.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 95.099998 m,
      nav range: 91.906136 m,
      bearing: 99.106191 deg,
      approach rate: -0.722021 m/s,
      LOS rate: -0.053991 deg/s,
      cmd heading: 101.861302 deg,
      new cmd heading: 101.779697 deg.

2025-08-08T21:34:25.077Z,1754688865.077 [DAT](INFO): DAT read: Rx Time:21:34:24.3302

2025-08-08T21:34:25.077Z,1754688865.077 [DAT](INFO): Rx dataTimestamp_ set to:1754688865.077162
2025-08-08T21:34:25.078Z,1754688865.078 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023470
2025-08-08T21:34:25.242Z,1754688865.242 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-08T21:34:25.244Z,1754688865.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 95.10 m.
2025-08-08T21:34:25.246Z,1754688865.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 95.099998 m,
      nav range: 91.700500 m,
      bearing: 99.090577 deg,
      approach rate: -0.699211 m/s,
      LOS rate: -0.053210 deg/s,
      cmd heading: 101.779695 deg,
      new cmd heading: 101.732748 deg.

2025-08-08T21:34:25.329Z,1754688865.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274484
2025-08-08T21:34:25.621Z,1754688865.621 [DAT](INFO): DAT read: 21:34:24.3302 LVL= 28144, 32753, 27250, 32755, AGC= 67, IDX= 410, 0.29, 1.943, 0.285, 2.244, 1.732, PHS= 0.313,-1.403, 0.468, RAW= 154.3,   7.0, CAL= 153.7,   7.2, ROT= 356.3,  -7.2

2025-08-08T21:34:25.622Z,1754688865.622 [DAT](INFO): got valid direction response:
 21:34:24.3302 LVL= 28144, 32753, 27250, 32755, AGC= 67, IDX= 410, 0.29, 1.943, 0.285, 2.244, 1.732, PHS= 0.313,-1.403, 0.468, RAW= 154.3,   7.0, CAL= 153.7,   7.2, ROT= 356.3,  -7.2

2025-08-08T21:34:25.623Z,1754688865.623 [DAT](INFO): DAT read: Bearing 267.6,  -0.7 (Local)

2025-08-08T21:34:25.623Z,1754688865.623 [DAT](INFO): Local bearing/azimuth received:
 Bearing 267.6,  -0.7 (Local)

2025-08-08T21:34:25.633Z,1754688865.633 [DAT](INFO): DAT read: Range 11 to 50 : 92.4 m  (Round-trip  123.2 ms) speed  0.6 m/s

2025-08-08T21:34:25.633Z,1754688865.633 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-08T21:34:25.634Z,1754688865.634 [DAT](INFO): direction in FSK: [0.990047,-0.064024,0.125333]
2025-08-08T21:34:25.635Z,1754688865.635 [DAT](INFO): publishing direction and range info
2025-08-08T21:34:25.646Z,1754688865.646 [DAT](INFO): ****** received valid address query ******
2025-08-08T21:34:25.646Z,1754688865.646 [DAT](INFO): ****** received valid ping request ******
2025-08-08T21:34:25.646Z,1754688865.646 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-08T21:34:25.771Z,1754688865.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 92.400002 m,
      deltaT: 3.780899 s,
      deltaX: -2.699997 m,
      approachRate: -0.714115 m/s,
      rangeRepo size: 4

2025-08-08T21:34:25.781Z,1754688865.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 92.400002 m,
      bearing: 99.054483 deg,
      lat: 36.906009 deg,
      lon: -122.115838 deg,
      deltaT: 3.780899 s,
      deltaX: -2.699997 m,
      approachRate: -0.714115 m/s,
      posRepo size: 4

2025-08-08T21:34:25.782Z,1754688865.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.40 m.
2025-08-08T21:34:25.790Z,1754688865.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 92.400002 m,
      nav range: 91.333054 m,
      bearing: 99.054483 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.053210 deg/s,
      cmd heading: 101.732751 deg,
      new cmd heading: 101.648704 deg.

2025-08-08T21:34:25.833Z,1754688865.833 [DAT](INFO): DAT read: user:1202>

2025-08-08T21:34:25.835Z,1754688865.835 [DAT](INFO): DAT read: Tx time:21:34:25.6529

2025-08-08T21:34:25.835Z,1754688865.835 [DAT](INFO): Ping request sent.
2025-08-08T21:34:25.835Z,1754688865.835 [DAT](INFO): transmitted an acoustic signal
2025-08-08T21:34:25.836Z,1754688865.836 [DAT](INFO): publishing transmit ping time
2025-08-08T21:34:25.837Z,1754688865.837 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001222
2025-08-08T21:34:26.085Z,1754688866.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249540
2025-08-08T21:34:26.157Z,1754688866.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.40 m.
2025-08-08T21:34:26.160Z,1754688866.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 92.400002 m,
      nav range: 91.044044 m,
      bearing: 99.025749 deg,
      approach rate: -0.747307 m/s,
      LOS rate: -0.074535 deg/s,
      cmd heading: 101.648706 deg,
      new cmd heading: 101.562230 deg.

2025-08-08T21:34:26.340Z,1754688866.340 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504563
2025-08-08T21:34:26.522Z,1754688866.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.40 m.
2025-08-08T21:34:26.525Z,1754688866.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 92.400002 m,
      nav range: 90.781647 m,
      bearing: 98.999401 deg,
      approach rate: -0.718111 m/s,
      LOS rate: -0.072317 deg/s,
      cmd heading: 101.562229 deg,
      new cmd heading: 101.482955 deg.

2025-08-08T21:34:26.593Z,1754688866.593 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756398
2025-08-08T21:34:26.841Z,1754688866.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006151
2025-08-08T21:34:26.958Z,1754688866.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.40 m.
2025-08-08T21:34:26.960Z,1754688866.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 92.400002 m,
      nav range: 90.471298 m,
      bearing: 98.963787 deg,
      approach rate: -0.712981 m/s,
      LOS rate: -0.082098 deg/s,
      cmd heading: 101.482958 deg,
      new cmd heading: 101.375750 deg.

2025-08-08T21:34:27.094Z,1754688867.094 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258759
2025-08-08T21:34:27.327Z,1754688867.327 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-08T21:34:27.329Z,1754688867.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.40 m.
2025-08-08T21:34:27.333Z,1754688867.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 92.400002 m,
      nav range: 90.205803 m,
      bearing: 98.933110 deg,
      approach rate: -0.713876 m/s,
      LOS rate: -0.082728 deg/s,
      cmd heading: 101.375751 deg,
      new cmd heading: 101.283449 deg.

2025-08-08T21:34:27.345Z,1754688867.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509538
2025-08-08T21:34:27.601Z,1754688867.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765402
2025-08-08T21:34:27.771Z,1754688867.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.40 m.
2025-08-08T21:34:27.775Z,1754688867.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 92.400002 m,
      nav range: 89.908455 m,
      bearing: 98.897759 deg,
      approach rate: -0.672675 m/s,
      LOS rate: -0.080238 deg/s,
      cmd heading: 101.283448 deg,
      new cmd heading: 101.177043 deg.

2025-08-08T21:34:27.850Z,1754688867.850 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014528
2025-08-08T21:34:28.102Z,1754688868.102 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266419
2025-08-08T21:34:28.154Z,1754688868.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.40 m.
2025-08-08T21:34:28.157Z,1754688868.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 92.400002 m,
      nav range: 89.625008 m,
      bearing: 98.863837 deg,
      approach rate: -0.740539 m/s,
      LOS rate: -0.088905 deg/s,
      cmd heading: 101.177040 deg,
      new cmd heading: 101.074952 deg.

2025-08-08T21:34:28.353Z,1754688868.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517507
2025-08-08T21:34:28.541Z,1754688868.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.40 m.
2025-08-08T21:34:28.543Z,1754688868.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 92.400002 m,
      nav range: 89.353119 m,
      bearing: 98.831312 deg,
      approach rate: -0.703706 m/s,
      LOS rate: -0.084436 deg/s,
      cmd heading: 101.074949 deg,
      new cmd heading: 100.977080 deg.

2025-08-08T21:34:28.608Z,1754688868.608 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771977
2025-08-08T21:34:28.858Z,1754688868.858 [DAT](INFO): DAT read: Rx Time:21:34:28.1765

2025-08-08T21:34:28.858Z,1754688868.858 [DAT](INFO): Rx dataTimestamp_ set to:1754688868.857826
2025-08-08T21:34:28.859Z,1754688868.859 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023686
2025-08-08T21:34:28.977Z,1754688868.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 92.40 m.
2025-08-08T21:34:28.980Z,1754688868.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 92.400002 m,
      nav range: 89.045677 m,
      bearing: 98.791920 deg,
      approach rate: -0.704893 m/s,
      LOS rate: -0.090629 deg/s,
      cmd heading: 100.977080 deg,
      new cmd heading: 100.858495 deg.

2025-08-08T21:34:29.112Z,1754688869.112 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276670
2025-08-08T21:34:29.366Z,1754688869.366 [DAT](INFO): DAT read: 21:34:28.1765 LVL= 25632, 32705, 23106, 32755, AGC= 67, IDX= 404, 0.27, 0.853,-0.808, 1.132, 0.628, PHS= 0.327,-1.391, 0.460, RAW= 153.7,   6.8, CAL= 153.0,   7.1, ROT= 357.0,  -7.1

2025-08-08T21:34:29.367Z,1754688869.367 [DAT](INFO): got valid direction response:
 21:34:28.1765 LVL= 25632, 32705, 23106, 32755, AGC= 67, IDX= 404, 0.27, 0.853,-0.808, 1.132, 0.628, PHS= 0.327,-1.391, 0.460, RAW= 153.7,   6.8, CAL= 153.0,   7.1, ROT= 357.0,  -7.1

2025-08-08T21:34:29.368Z,1754688869.368 [DAT](INFO): DAT read: Bearing 267.6,   1.5 (Local)

2025-08-08T21:34:29.369Z,1754688869.369 [DAT](INFO): Local bearing/azimuth received:
 Bearing 267.6,   1.5 (Local)

2025-08-08T21:34:29.370Z,1754688869.370 [DAT](INFO): DAT read: Range 11 to 50 : 89.6 m  (Round-trip  119.5 ms) speed  0.7 m/s

2025-08-08T21:34:29.371Z,1754688869.371 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-08T21:34:29.372Z,1754688869.372 [DAT](INFO): direction in FSK: [0.990972,-0.051935,0.123601]
2025-08-08T21:34:29.372Z,1754688869.372 [DAT](INFO): publishing direction and range info
2025-08-08T21:34:29.375Z,1754688869.375 [DAT](INFO): ****** received valid address query ******
2025-08-08T21:34:29.375Z,1754688869.375 [DAT](INFO): ****** received valid ping request ******
2025-08-08T21:34:29.375Z,1754688869.375 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-08T21:34:29.474Z,1754688869.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 89.599998 m,
      deltaT: 3.778873 s,
      deltaX: -2.800003 m,
      approachRate: -0.740962 m/s,
      rangeRepo size: 4

2025-08-08T21:34:29.486Z,1754688869.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 89.599998 m,
      bearing: 99.171206 deg,
      lat: 36.906005 deg,
      lon: -122.115846 deg,
      deltaT: 3.778873 s,
      deltaX: -2.800003 m,
      approachRate: -0.740962 m/s,
      posRepo size: 4

2025-08-08T21:34:29.487Z,1754688869.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.60 m.
2025-08-08T21:34:29.494Z,1754688869.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 89.599998 m,
      nav range: 88.070099 m,
      bearing: 99.171206 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.090629 deg/s,
      cmd heading: 100.858494 deg,
      new cmd heading: 100.723417 deg.

2025-08-08T21:34:29.617Z,1754688869.617 [DAT](INFO): DAT read: user:1203>

2025-08-08T21:34:29.621Z,1754688869.621 [DAT](INFO): DAT read: Tx time:21:34:29.4029

2025-08-08T21:34:29.622Z,1754688869.622 [DAT](INFO): Ping request sent.
2025-08-08T21:34:29.622Z,1754688869.622 [DAT](INFO): transmitted an acoustic signal
2025-08-08T21:34:29.623Z,1754688869.623 [DAT](INFO): publishing transmit ping time
2025-08-08T21:34:29.625Z,1754688869.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002583
2025-08-08T21:34:29.869Z,1754688869.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.246777
2025-08-08T21:34:29.900Z,1754688869.900 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-08T21:34:29.903Z,1754688869.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.60 m.
2025-08-08T21:34:29.905Z,1754688869.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 89.599998 m,
      nav range: 87.768532 m,
      bearing: 99.137346 deg,
      approach rate: -0.703014 m/s,
      LOS rate: -0.079207 deg/s,
      cmd heading: 100.723420 deg,
      new cmd heading: 100.621489 deg.

2025-08-08T21:34:30.121Z,1754688870.121 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.498595
2025-08-08T21:34:30.267Z,1754688870.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.60 m.
2025-08-08T21:34:30.270Z,1754688870.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 89.599998 m,
      nav range: 87.506004 m,
      bearing: 99.107848 deg,
      approach rate: -0.720175 m/s,
      LOS rate: -0.081161 deg/s,
      cmd heading: 100.621486 deg,
      new cmd heading: 100.532729 deg.

2025-08-08T21:34:30.373Z,1754688870.373 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.750768
2025-08-08T21:34:30.627Z,1754688870.627 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004512
2025-08-08T21:34:30.861Z,1754688870.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.60 m.
2025-08-08T21:34:30.869Z,1754688870.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 89.599998 m,
      nav range: 87.104660 m,
      bearing: 99.067837 deg,
      approach rate: -0.681876 m/s,
      LOS rate: -0.068293 deg/s,
      cmd heading: 100.532728 deg,
      new cmd heading: 100.412139 deg.

2025-08-08T21:34:30.877Z,1754688870.877 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.254785
2025-08-08T21:34:31.129Z,1754688871.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506650
2025-08-08T21:34:31.230Z,1754688871.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.60 m.
2025-08-08T21:34:31.233Z,1754688871.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 89.599998 m,
      nav range: 86.826088 m,
      bearing: 99.040135 deg,
      approach rate: -0.744799 m/s,
      LOS rate: -0.074303 deg/s,
      cmd heading: 100.412141 deg,
      new cmd heading: 100.328768 deg.

2025-08-08T21:34:31.381Z,1754688871.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758714
2025-08-08T21:34:31.633Z,1754688871.633 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.010537
2025-08-08T21:34:31.715Z,1754688871.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.60 m.
2025-08-08T21:34:31.722Z,1754688871.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 89.599998 m,
      nav range: 86.515762 m,
      bearing: 99.009299 deg,
      approach rate: -0.639307 m/s,
      LOS rate: -0.063752 deg/s,
      cmd heading: 100.328772 deg,
      new cmd heading: 100.235934 deg.

2025-08-08T21:34:31.885Z,1754688871.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262722
2025-08-08T21:34:32.062Z,1754688872.062 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-08T21:34:32.064Z,1754688872.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.60 m.
2025-08-08T21:34:32.067Z,1754688872.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 89.599998 m,
      nav range: 86.237122 m,
      bearing: 98.987250 deg,
      approach rate: -0.799396 m/s,
      LOS rate: -0.063463 deg/s,
      cmd heading: 100.235936 deg,
      new cmd heading: 100.169573 deg.

2025-08-08T21:34:32.138Z,1754688872.138 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515504
2025-08-08T21:34:32.389Z,1754688872.389 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766708
2025-08-08T21:34:32.418Z,1754688872.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.60 m.
2025-08-08T21:34:32.433Z,1754688872.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 89.599998 m,
      nav range: 85.985397 m,
      bearing: 98.967585 deg,
      approach rate: -0.710133 m/s,
      LOS rate: -0.055638 deg/s,
      cmd heading: 100.169574 deg,
      new cmd heading: 100.110407 deg.

2025-08-08T21:34:32.642Z,1754688872.642 [DAT](INFO): DAT read: Rx Time:21:34:31.9231

2025-08-08T21:34:32.643Z,1754688872.643 [DAT](INFO): Rx dataTimestamp_ set to:1754688872.642379
2025-08-08T21:34:32.645Z,1754688872.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022433
2025-08-08T21:34:32.893Z,1754688872.893 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270731
2025-08-08T21:34:32.897Z,1754688872.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.60 m.
2025-08-08T21:34:32.899Z,1754688872.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 89.599998 m,
      nav range: 85.655098 m,
      bearing: 98.949796 deg,
      approach rate: -0.690327 m/s,
      LOS rate: -0.037321 deg/s,
      cmd heading: 100.110404 deg,
      new cmd heading: 100.056833 deg.

2025-08-08T21:34:33.155Z,1754688873.155 [DAT](INFO): DAT read: 21:34:31.9231 LVL= 24624, 29249, 22802, 32755, AGC= 67, IDX= 401,-0.15, 2.899, 1.241, 3.142, 2.658, PHS= 0.343,-1.373, 0.439, RAW= 152.7,   6.7, CAL= 152.1,   7.0, ROT= 357.9,  -7.0

2025-08-08T21:34:33.158Z,1754688873.158 [DAT](INFO): got valid direction response:
 21:34:31.9231 LVL= 24624, 29249, 22802, 32755, AGC= 67, IDX= 401,-0.15, 2.899, 1.241, 3.142, 2.658, PHS= 0.343,-1.373, 0.439, RAW= 152.7,   6.7, CAL= 152.1,   7.0, ROT= 357.9,  -7.0

2025-08-08T21:34:33.160Z,1754688873.160 [DAT](INFO): DAT read: Bearing 266.9,   4.1 (Local)

2025-08-08T21:34:33.160Z,1754688873.160 [DAT](INFO): Local bearing/azimuth received:
 Bearing 266.9,   4.1 (Local)

2025-08-08T21:34:33.161Z,1754688873.161 [DAT](INFO): DAT read: Range 11 to 50 : 87.0 m  (Round-trip  116.1 ms) speed  0.7 m/s

2025-08-08T21:34:33.162Z,1754688873.162 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-08T21:34:33.163Z,1754688873.163 [DAT](INFO): direction in FSK: [0.991880,-0.036371,0.121869]
2025-08-08T21:34:33.163Z,1754688873.163 [DAT](INFO): publishing direction and range info
2025-08-08T21:34:33.197Z,1754688873.197 [DAT](INFO): ****** received valid address query ******
2025-08-08T21:34:33.198Z,1754688873.198 [DAT](INFO): ****** received valid ping request ******
2025-08-08T21:34:33.198Z,1754688873.198 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-08T21:34:33.331Z,1754688873.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 87.000000 m,
      deltaT: 3.786042 s,
      deltaX: -2.599998 m,
      approachRate: -0.686733 m/s,
      rangeRepo size: 4

2025-08-08T21:34:33.338Z,1754688873.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 87.000000 m,
      bearing: 99.715471 deg,
      lat: 36.905994 deg,
      lon: -122.115850 deg,
      deltaT: 3.786042 s,
      deltaX: -2.599998 m,
      approachRate: -0.686733 m/s,
      posRepo size: 4

2025-08-08T21:34:33.338Z,1754688873.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.00 m.
2025-08-08T21:34:33.345Z,1754688873.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 87.000000 m,
      nav range: 85.191978 m,
      bearing: 99.715471 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.037321 deg/s,
      cmd heading: 100.056835 deg,
      new cmd heading: 100.008248 deg.

2025-08-08T21:34:33.398Z,1754688873.398 [DAT](INFO): DAT read: user:1204>

2025-08-08T21:34:33.399Z,1754688873.399 [DAT](INFO): DAT read: Tx time:21:34:33.2029

2025-08-08T21:34:33.399Z,1754688873.399 [DAT](INFO): Ping request sent.
2025-08-08T21:34:33.399Z,1754688873.399 [DAT](INFO): transmitted an acoustic signal
2025-08-08T21:34:33.401Z,1754688873.401 [DAT](INFO): publishing transmit ping time
2025-08-08T21:34:33.402Z,1754688873.402 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002431
2025-08-08T21:34:33.649Z,1754688873.649 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249560
2025-08-08T21:34:33.754Z,1754688873.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.00 m.
2025-08-08T21:34:33.757Z,1754688873.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 87.000000 m,
      nav range: 84.889297 m,
      bearing: 99.701705 deg,
      approach rate: -0.716673 m/s,
      LOS rate: -0.032711 deg/s,
      cmd heading: 100.008251 deg,
      new cmd heading: 99.966805 deg.

2025-08-08T21:34:33.901Z,1754688873.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501561
2025-08-08T21:34:34.114Z,1754688874.114 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-08T21:34:34.120Z,1754688874.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.00 m.
2025-08-08T21:34:34.123Z,1754688874.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 87.000000 m,
      nav range: 84.632332 m,
      bearing: 99.690848 deg,
      approach rate: -0.708347 m/s,
      LOS rate: -0.030018 deg/s,
      cmd heading: 99.966806 deg,
      new cmd heading: 99.934137 deg.

2025-08-08T21:34:34.153Z,1754688874.153 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753724
2025-08-08T21:34:34.405Z,1754688874.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005563
2025-08-08T21:34:34.488Z,1754688874.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.00 m.
2025-08-08T21:34:34.491Z,1754688874.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 87.000000 m,
      nav range: 84.362808 m,
      bearing: 99.679389 deg,
      approach rate: -0.724304 m/s,
      LOS rate: -0.030892 deg/s,
      cmd heading: 99.934137 deg,
      new cmd heading: 99.899651 deg.

2025-08-08T21:34:34.660Z,1754688874.660 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259898
2025-08-08T21:34:34.909Z,1754688874.909 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509660
2025-08-08T21:34:34.924Z,1754688874.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.00 m.
2025-08-08T21:34:34.927Z,1754688874.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 87.000000 m,
      nav range: 84.052719 m,
      bearing: 99.671349 deg,
      approach rate: -0.711375 m/s,
      LOS rate: -0.018513 deg/s,
      cmd heading: 99.899651 deg,
      new cmd heading: 99.875442 deg.

2025-08-08T21:34:35.161Z,1754688875.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761538
2025-08-08T21:34:35.277Z,1754688875.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.00 m.
2025-08-08T21:34:35.279Z,1754688875.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 87.000000 m,
      nav range: 83.802429 m,
      bearing: 99.665574 deg,
      approach rate: -0.710944 m/s,
      LOS rate: -0.016455 deg/s,
      cmd heading: 99.875445 deg,
      new cmd heading: 99.858066 deg.

2025-08-08T21:34:35.414Z,1754688875.414 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014300
2025-08-08T21:34:35.665Z,1754688875.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265701
2025-08-08T21:34:35.760Z,1754688875.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.00 m.
2025-08-08T21:34:35.770Z,1754688875.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 87.000000 m,
      nav range: 83.497215 m,
      bearing: 99.658760 deg,
      approach rate: -0.637806 m/s,
      LOS rate: -0.014291 deg/s,
      cmd heading: 99.858069 deg,
      new cmd heading: 99.837554 deg.

2025-08-08T21:34:35.919Z,1754688875.919 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520117
2025-08-08T21:34:36.156Z,1754688876.156 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-08T21:34:36.158Z,1754688876.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.00 m.
2025-08-08T21:34:36.165Z,1754688876.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 87.000000 m,
      nav range: 83.193459 m,
      bearing: 99.654154 deg,
      approach rate: -0.752044 m/s,
      LOS rate: -0.011446 deg/s,
      cmd heading: 99.837551 deg,
      new cmd heading: 99.823681 deg.

2025-08-08T21:34:36.169Z,1754688876.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769717
2025-08-08T21:34:36.421Z,1754688876.421 [DAT](INFO): DAT read: Rx Time:21:34:35.7194

2025-08-08T21:34:36.422Z,1754688876.422 [DAT](INFO): Rx dataTimestamp_ set to:1754688876.421522
2025-08-08T21:34:36.423Z,1754688876.423 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023347
2025-08-08T21:34:36.509Z,1754688876.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 87.00 m.
2025-08-08T21:34:36.525Z,1754688876.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 87.000000 m,
      nav range: 82.937073 m,
      bearing: 99.650547 deg,
      approach rate: -0.730211 m/s,
      LOS rate: -0.010303 deg/s,
      cmd heading: 99.823679 deg,
      new cmd heading: 99.812827 deg.

2025-08-08T21:34:36.673Z,1754688876.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273982
2025-08-08T21:34:36.930Z,1754688876.930 [DAT](INFO): DAT read: 21:34:35.7194 LVL= 29200, 32753, 25586, 32755, AGC= 66, IDX= 411, 0.21, 2.334, 0.629, 2.538, 2.040, PHS= 0.396,-1.366, 0.454, RAW= 151.6,   5.8, CAL= 150.9,   6.0, ROT= 359.1,  -6.0

2025-08-08T21:34:36.931Z,1754688876.931 [DAT](INFO): got valid direction response:
 21:34:35.7194 LVL= 29200, 32753, 25586, 32755, AGC= 66, IDX= 411, 0.21, 2.334, 0.629, 2.538, 2.040, PHS= 0.396,-1.366, 0.454, RAW= 151.6,   5.8, CAL= 150.9,   6.0, ROT= 359.1,  -6.0

2025-08-08T21:34:36.933Z,1754688876.933 [DAT](INFO): DAT read: Bearing 265.0,   6.8 (Local)

2025-08-08T21:34:36.933Z,1754688876.933 [DAT](INFO): Local bearing/azimuth received:
 Bearing 265.0,   6.8 (Local)

2025-08-08T21:34:36.934Z,1754688876.934 [DAT](INFO): DAT read: Range 11 to 50 : 84.3 m  (Round-trip  112.4 ms) speed  0.5 m/s

2025-08-08T21:34:36.935Z,1754688876.935 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-08T21:34:36.936Z,1754688876.936 [DAT](INFO): direction in FSK: [0.994399,-0.015621,0.104528]
2025-08-08T21:34:36.936Z,1754688876.936 [DAT](INFO): publishing direction and range info
2025-08-08T21:34:36.939Z,1754688876.939 [DAT](INFO): ****** received valid address query ******
2025-08-08T21:34:36.939Z,1754688876.939 [DAT](INFO): ****** received valid ping request ******
2025-08-08T21:34:36.944Z,1754688876.944 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-08T21:34:37.030Z,1754688877.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 84.300003 m,
      deltaT: 3.778178 s,
      deltaX: -2.699997 m,
      approachRate: -0.714629 m/s,
      rangeRepo size: 4

2025-08-08T21:34:37.036Z,1754688877.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 84.300003 m,
      bearing: 100.568214 deg,
      lat: 36.905984 deg,
      lon: -122.115859 deg,
      deltaT: 3.778178 s,
      deltaX: -2.699997 m,
      approachRate: -0.714629 m/s,
      posRepo size: 4

2025-08-08T21:34:37.037Z,1754688877.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.30 m.
2025-08-08T21:34:37.039Z,1754688877.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.300003 m,
      nav range: 82.002533 m,
      bearing: 100.568214 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.010303 deg/s,
      cmd heading: 99.812826 deg,
      new cmd heading: 99.796758 deg.

2025-08-08T21:34:37.177Z,1754688877.177 [DAT](INFO): DAT read: user:1205>

2025-08-08T21:34:37.178Z,1754688877.178 [DAT](INFO): DAT read: Tx time:21:34:36.9529

2025-08-08T21:34:37.178Z,1754688877.178 [DAT](INFO): Ping request sent.
2025-08-08T21:34:37.178Z,1754688877.178 [DAT](INFO): transmitted an acoustic signal
2025-08-08T21:34:37.178Z,1754688877.178 [DAT](INFO): publishing transmit ping time
2025-08-08T21:34:37.179Z,1754688877.179 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000761
2025-08-08T21:34:37.386Z,1754688877.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.30 m.
2025-08-08T21:34:37.393Z,1754688877.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.300003 m,
      nav range: 81.740959 m,
      bearing: 100.567933 deg,
      approach rate: -0.733203 m/s,
      LOS rate: -0.000792 deg/s,
      cmd heading: 99.796761 deg,
      new cmd heading: 99.795914 deg.

2025-08-08T21:34:37.429Z,1754688877.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250628
2025-08-08T21:34:37.681Z,1754688877.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503146
2025-08-08T21:34:37.886Z,1754688877.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.30 m.
2025-08-08T21:34:37.889Z,1754688877.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.300003 m,
      nav range: 81.423676 m,
      bearing: 100.561158 deg,
      approach rate: -0.634302 m/s,
      LOS rate: -0.013597 deg/s,
      cmd heading: 99.795914 deg,
      new cmd heading: 99.775511 deg.

2025-08-08T21:34:37.934Z,1754688877.934 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755645
2025-08-08T21:34:38.185Z,1754688878.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006507
2025-08-08T21:34:38.223Z,1754688878.223 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-08T21:34:38.225Z,1754688878.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.30 m.
2025-08-08T21:34:38.252Z,1754688878.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.300003 m,
      nav range: 81.159996 m,
      bearing: 100.555488 deg,
      approach rate: -0.777041 m/s,
      LOS rate: -0.016765 deg/s,
      cmd heading: 99.775513 deg,
      new cmd heading: 99.758446 deg.

2025-08-08T21:34:38.437Z,1754688878.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258424
2025-08-08T21:34:38.625Z,1754688878.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.30 m.
2025-08-08T21:34:38.632Z,1754688878.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.300003 m,
      nav range: 80.885368 m,
      bearing: 100.550394 deg,
      approach rate: -0.686489 m/s,
      LOS rate: -0.012775 deg/s,
      cmd heading: 99.758444 deg,
      new cmd heading: 99.743112 deg.

2025-08-08T21:34:38.690Z,1754688878.690 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511944
2025-08-08T21:34:38.941Z,1754688878.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762452
2025-08-08T21:34:39.030Z,1754688879.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.30 m.
2025-08-08T21:34:39.033Z,1754688879.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.300003 m,
      nav range: 80.610413 m,
      bearing: 100.538977 deg,
      approach rate: -0.680457 m/s,
      LOS rate: -0.028353 deg/s,
      cmd heading: 99.743110 deg,
      new cmd heading: 99.708741 deg.

2025-08-08T21:34:39.193Z,1754688879.193 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014483
2025-08-08T21:34:39.411Z,1754688879.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.30 m.
2025-08-08T21:34:39.414Z,1754688879.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.300003 m,
      nav range: 80.351051 m,
      bearing: 100.528557 deg,
      approach rate: -0.680295 m/s,
      LOS rate: -0.027419 deg/s,
      cmd heading: 99.708741 deg,
      new cmd heading: 99.677381 deg.

2025-08-08T21:34:39.446Z,1754688879.446 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267341
2025-08-08T21:34:39.697Z,1754688879.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518418
2025-08-08T21:34:39.891Z,1754688879.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.30 m.
2025-08-08T21:34:39.894Z,1754688879.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.300003 m,
      nav range: 80.027542 m,
      bearing: 100.508146 deg,
      approach rate: -0.673753 m/s,
      LOS rate: -0.042681 deg/s,
      cmd heading: 99.677383 deg,
      new cmd heading: 99.615902 deg.

2025-08-08T21:34:39.950Z,1754688879.950 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771317
2025-08-08T21:34:40.201Z,1754688880.201 [DAT](INFO): DAT read: Rx Time:21:34:39.4659

2025-08-08T21:34:40.202Z,1754688880.202 [DAT](INFO): Rx dataTimestamp_ set to:1754688880.201247
2025-08-08T21:34:40.202Z,1754688880.202 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023775
2025-08-08T21:34:40.247Z,1754688880.247 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-08T21:34:40.249Z,1754688880.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.30 m.
2025-08-08T21:34:40.252Z,1754688880.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.300003 m,
      nav range: 79.786613 m,
      bearing: 100.493597 deg,
      approach rate: -0.672846 m/s,
      LOS rate: -0.040753 deg/s,
      cmd heading: 99.615905 deg,
      new cmd heading: 99.572127 deg.

2025-08-08T21:34:40.453Z,1754688880.453 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274448
2025-08-08T21:34:40.702Z,1754688880.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.30 m.
2025-08-08T21:34:40.710Z,1754688880.710 [DAT](INFO): DAT read: 21:34:39.4659 LVL= 25584, 30289, 23922, 32755, AGC= 65, IDX= 407, 0.15, 1.978, 0.320, 2.134, 1.675, PHS= 0.405,-1.310, 0.415, RAW= 150.3,   5.8, CAL= 149.6,   6.0, ROT=   0.4,  -6.0

2025-08-08T21:34:40.711Z,1754688880.711 [DAT](INFO): got valid direction response:
 21:34:39.4659 LVL= 25584, 30289, 23922, 32755, AGC= 65, IDX= 407, 0.15, 1.978, 0.320, 2.134, 1.675, PHS= 0.405,-1.310, 0.415, RAW= 150.3,   5.8, CAL= 149.6,   6.0, ROT=   0.4,  -6.0

2025-08-08T21:34:40.712Z,1754688880.712 [DAT](INFO): DAT read: Bearing 264.3,   9.4 (Local)

2025-08-08T21:34:40.713Z,1754688880.713 [DAT](INFO): Local bearing/azimuth received:
 Bearing 264.3,   9.4 (Local)

2025-08-08T21:34:40.714Z,1754688880.714 [DAT](INFO): DAT read: Range 11 to 50 : 81.6 m  (Round-trip  108.8 ms) speed  0.5 m/s

2025-08-08T21:34:40.715Z,1754688880.715 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-08T21:34:40.716Z,1754688880.716 [DAT](INFO): direction in FSK: [0.994498,0.006943,0.104528]
2025-08-08T21:34:40.716Z,1754688880.716 [DAT](INFO): publishing direction and range info
2025-08-08T21:34:40.725Z,1754688880.725 [DAT](INFO): ****** received valid address query ******
2025-08-08T21:34:40.725Z,1754688880.725 [DAT](INFO): ****** received valid ping request ******
2025-08-08T21:34:40.726Z,1754688880.726 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-08T21:34:40.733Z,1754688880.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 84.300003 m,
      nav range: 79.485451 m,
      bearing: 100.475639 deg,
      approach rate: -0.665028 m/s,
      LOS rate: -0.039804 deg/s,
      cmd heading: 99.572123 deg,
      new cmd heading: 99.518046 deg.

2025-08-08T21:34:40.957Z,1754688880.957 [DAT](INFO): DAT read: user:1206>

2025-08-08T21:34:40.958Z,1754688880.958 [DAT](INFO): DAT read: Tx time:21:34:40.7029

2025-08-08T21:34:40.958Z,1754688880.958 [DAT](INFO): Ping request sent.
2025-08-08T21:34:40.958Z,1754688880.958 [DAT](INFO): transmitted an acoustic signal
2025-08-08T21:34:40.958Z,1754688880.958 [DAT](INFO): publishing transmit ping time
2025-08-08T21:34:40.959Z,1754688880.959 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000760
2025-08-08T21:34:41.169Z,1754688881.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 81.599998 m,
      deltaT: 3.779816 s,
      deltaX: -2.700005 m,
      approachRate: -0.714322 m/s,
      rangeRepo size: 4

2025-08-08T21:34:41.171Z,1754688881.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 81.599998 m,
      bearing: 100.990454 deg,
      lat: 36.905978 deg,
      lon: -122.115864 deg,
      deltaT: 3.779816 s,
      deltaX: -2.700005 m,
      approachRate: -0.714322 m/s,
      posRepo size: 4

2025-08-08T21:34:41.176Z,1754688881.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.60 m.
2025-08-08T21:34:41.179Z,1754688881.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 81.599998 m,
      nav range: 78.896080 m,
      bearing: 100.990454 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.039804 deg/s,
      cmd heading: 99.518049 deg,
      new cmd heading: 99.462301 deg.

2025-08-08T21:34:41.209Z,1754688881.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250899
2025-08-08T21:34:41.461Z,1754688881.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502801
2025-08-08T21:34:41.512Z,1754688881.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.60 m.
2025-08-08T21:34:41.515Z,1754688881.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 81.599998 m,
      nav range: 78.644974 m,
      bearing: 100.976864 deg,
      approach rate: -0.731421 m/s,
      LOS rate: -0.039709 deg/s,
      cmd heading: 99.462301 deg,
      new cmd heading: 99.421402 deg.

2025-08-08T21:34:41.713Z,1754688881.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754876
2025-08-08T21:34:41.955Z,1754688881.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.60 m.
2025-08-08T21:34:41.962Z,1754688881.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 81.599998 m,
      nav range: 78.350800 m,
      bearing: 100.958524 deg,
      approach rate: -0.663488 m/s,
      LOS rate: -0.041522 deg/s,
      cmd heading: 99.421402 deg,
      new cmd heading: 99.366172 deg.

2025-08-08T21:34:41.965Z,1754688881.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006901
2025-08-08T21:34:42.217Z,1754688882.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259159
2025-08-08T21:34:42.309Z,1754688882.309 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-08T21:34:42.311Z,1754688882.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.60 m.
2025-08-08T21:34:42.314Z,1754688882.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 81.599998 m,
      nav range: 78.089027 m,
      bearing: 100.942311 deg,
      approach rate: -0.736004 m/s,
      LOS rate: -0.045735 deg/s,
      cmd heading: 99.366173 deg,
      new cmd heading: 99.317373 deg.

2025-08-08T21:34:42.469Z,1754688882.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510825
2025-08-08T21:34:42.712Z,1754688882.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.60 m.
2025-08-08T21:34:42.715Z,1754688882.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 81.599998 m,
      nav range: 77.809418 m,
      bearing: 100.925075 deg,
      approach rate: -0.696597 m/s,
      LOS rate: -0.043095 deg/s,
      cmd heading: 99.317371 deg,
      new cmd heading: 99.265476 deg.

2025-08-08T21:34:42.724Z,1754688882.724 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765358
2025-08-08T21:34:42.978Z,1754688882.978 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.019351
2025-08-08T21:34:43.121Z,1754688883.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.60 m.
2025-08-08T21:34:43.128Z,1754688883.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 81.599998 m,
      nav range: 77.525620 m,
      bearing: 100.907703 deg,
      approach rate: -0.695673 m/s,
      LOS rate: -0.042739 deg/s,
      cmd heading: 99.265475 deg,
      new cmd heading: 99.213169 deg.

2025-08-08T21:34:43.226Z,1754688883.226 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267352
2025-08-08T21:34:43.477Z,1754688883.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518761
2025-08-08T21:34:43.605Z,1754688883.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.60 m.
2025-08-08T21:34:43.612Z,1754688883.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 81.599998 m,
      nav range: 77.189041 m,
      bearing: 100.887208 deg,
      approach rate: -0.694543 m/s,
      LOS rate: -0.042476 deg/s,
      cmd heading: 99.213170 deg,
      new cmd heading: 99.151417 deg.

2025-08-08T21:34:43.729Z,1754688883.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771163
2025-08-08T21:34:43.981Z,1754688883.981 [DAT](INFO): DAT read: Rx Time:21:34:43.2125

2025-08-08T21:34:43.981Z,1754688883.981 [DAT](INFO): Rx dataTimestamp_ set to:1754688883.981156
2025-08-08T21:34:43.982Z,1754688883.982 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023963
2025-08-08T21:34:44.040Z,1754688884.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.60 m.
2025-08-08T21:34:44.043Z,1754688884.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 81.599998 m,
      nav range: 76.886322 m,
      bearing: 100.868621 deg,
      approach rate: -0.696306 m/s,
      LOS rate: -0.042922 deg/s,
      cmd heading: 99.151418 deg,
      new cmd heading: 99.095437 deg.

2025-08-08T21:34:44.233Z,1754688884.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274885
2025-08-08T21:34:44.414Z,1754688884.414 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-08T21:34:44.416Z,1754688884.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.60 m.
2025-08-08T21:34:44.418Z,1754688884.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 81.599998 m,
      nav range: 76.625496 m,
      bearing: 100.853033 deg,
      approach rate: -0.693997 m/s,
      LOS rate: -0.041617 deg/s,
      cmd heading: 99.095438 deg,
      new cmd heading: 99.048515 deg.

2025-08-08T21:34:44.490Z,1754688884.490 [DAT](INFO): DAT read: 21:34:43.2125 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 404,-0.03,-2.040, 2.584,-1.873,-2.318, PHS= 0.381,-1.336, 0.401, RAW= 150.6,   6.5, CAL= 149.9,   6.8, ROT=   0.1,  -6.8

2025-08-08T21:34:44.491Z,1754688884.491 [DAT](INFO): got valid direction response:
 21:34:43.2125 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 404,-0.03,-2.040, 2.584,-1.873,-2.318, PHS= 0.381,-1.336, 0.401, RAW= 150.6,   6.5, CAL= 149.9,   6.8, ROT=   0.1,  -6.8

2025-08-08T21:34:44.492Z,1754688884.492 [DAT](INFO): DAT read: Bearing 264.3,   9.9 (Local)

2025-08-08T21:34:44.493Z,1754688884.493 [DAT](INFO): Local bearing/azimuth received:
 Bearing 264.3,   9.9 (Local)

2025-08-08T21:34:44.494Z,1754688884.494 [DAT](INFO): DAT read: Range 11 to 50 : 79.0 m  (Round-trip  105.4 ms) speed  0.6 m/s

2025-08-08T21:34:44.495Z,1754688884.495 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-08T21:34:44.496Z,1754688884.496 [DAT](INFO): direction in FSK: [0.992964,0.001733,0.118404]
2025-08-08T21:34:44.496Z,1754688884.496 [DAT](INFO): publishing direction and range info
2025-08-08T21:34:44.499Z,1754688884.499 [DAT](INFO): ****** received valid address query ******
2025-08-08T21:34:44.499Z,1754688884.499 [DAT](INFO): ****** received valid ping request ******
2025-08-08T21:34:44.499Z,1754688884.499 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-08T21:34:44.737Z,1754688884.737 [DAT](INFO): DAT read: user:1207>

2025-08-08T21:34:44.738Z,1754688884.738 [DAT](INFO): DAT read: Tx time:21:34:44.5029

2025-08-08T21:34:44.738Z,1754688884.738 [DAT](INFO): Ping request sent.
2025-08-08T21:34:44.738Z,1754688884.738 [DAT](INFO): transmitted an acoustic signal
2025-08-08T21:34:44.738Z,1754688884.738 [DAT](INFO): publishing transmit ping time
2025-08-08T21:34:44.739Z,1754688884.739 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000742
2025-08-08T21:34:44.879Z,1754688884.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 79.000000 m,
      deltaT: 3.780029 s,
      deltaX: -2.599998 m,
      approachRate: -0.687825 m/s,
      rangeRepo size: 4

2025-08-08T21:34:44.893Z,1754688884.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 79.000000 m,
      bearing: 100.865597 deg,
      lat: 36.905978 deg,
      lon: -122.115866 deg,
      deltaT: 3.780029 s,
      deltaX: -2.599998 m,
      approachRate: -0.687825 m/s,
      posRepo size: 4

2025-08-08T21:34:44.893Z,1754688884.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.00 m.
2025-08-08T21:34:44.900Z,1754688884.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 79.000000 m,
      nav range: 76.155479 m,
      bearing: 100.865597 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.041617 deg/s,
      cmd heading: 99.048514 deg,
      new cmd heading: 98.991732 deg.

2025-08-08T21:34:44.989Z,1754688884.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251031
2025-08-08T21:34:45.209Z,1754688885.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.00 m.
2025-08-08T21:34:45.211Z,1754688885.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 79.000000 m,
      nav range: 75.870590 m,
      bearing: 100.854549 deg,
      approach rate: -0.841866 m/s,
      LOS rate: -0.032769 deg/s,
      cmd heading: 98.991735 deg,
      new cmd heading: 98.958468 deg.

2025-08-08T21:34:45.214Z,1754688885.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](INFO): Reached init depth of 58.496944 m.
2025-08-08T21:34:45.241Z,1754688885.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503058
2025-08-08T21:34:45.493Z,1754688885.493 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754750
2025-08-08T21:34:45.614Z,1754688885.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.00 m.
2025-08-08T21:34:45.624Z,1754688885.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 79.000000 m,
      nav range: 75.594757 m,
      bearing: 100.843942 deg,
      approach rate: -0.681539 m/s,
      LOS rate: -0.026304 deg/s,
      cmd heading: 98.958465 deg,
      new cmd heading: 98.926528 deg.

2025-08-08T21:34:45.746Z,1754688885.746 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007382
2025-08-08T21:34:45.997Z,1754688885.997 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258885
2025-08-08T21:34:46.008Z,1754688886.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.00 m.
2025-08-08T21:34:46.011Z,1754688886.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 79.000000 m,
      nav range: 75.304214 m,
      bearing: 100.837341 deg,
      approach rate: -0.736666 m/s,
      LOS rate: -0.016801 deg/s,
      cmd heading: 98.926527 deg,
      new cmd heading: 98.906648 deg.

2025-08-08T21:34:46.249Z,1754688886.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510870
2025-08-08T21:34:46.399Z,1754688886.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.00 m.
2025-08-08T21:34:46.402Z,1754688886.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 79.000000 m,
      nav range: 75.035408 m,
      bearing: 100.831365 deg,
      approach rate: -0.686547 m/s,
      LOS rate: -0.015318 deg/s,
      cmd heading: 98.906651 deg,
      new cmd heading: 98.888659 deg.

2025-08-08T21:34:46.501Z,1754688886.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762779
2025-08-08T21:34:46.756Z,1754688886.756 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018037
2025-08-08T21:34:46.965Z,1754688886.965 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-08T21:34:46.967Z,1754688886.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.00 m.
2025-08-08T21:34:46.974Z,1754688886.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 79.000000 m,
      nav range: 74.641701 m,
      bearing: 100.824811 deg,
      approach rate: -0.693456 m/s,
      LOS rate: -0.011605 deg/s,
      cmd heading: 98.888660 deg,
      new cmd heading: 98.868894 deg.

2025-08-08T21:34:47.005Z,1754688887.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266944
2025-08-08T21:34:47.257Z,1754688887.257 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518748
2025-08-08T21:34:47.294Z,1754688887.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.00 m.
2025-08-08T21:34:47.297Z,1754688887.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 79.000000 m,
      nav range: 74.405899 m,
      bearing: 100.821108 deg,
      approach rate: -0.720991 m/s,
      LOS rate: -0.011358 deg/s,
      cmd heading: 98.868894 deg,
      new cmd heading: 98.857750 deg.

2025-08-08T21:34:47.509Z,1754688887.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770686
2025-08-08T21:34:47.696Z,1754688887.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.00 m.
2025-08-08T21:34:47.699Z,1754688887.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 79.000000 m,
      nav range: 74.126694 m,
      bearing: 100.816961 deg,
      approach rate: -0.694294 m/s,
      LOS rate: -0.010351 deg/s,
      cmd heading: 98.857747 deg,
      new cmd heading: 98.845259 deg.

2025-08-08T21:34:47.761Z,1754688887.761 [DAT](INFO): DAT read: Rx Time:21:34:47.0087

2025-08-08T21:34:47.762Z,1754688887.762 [DAT](INFO): Rx dataTimestamp_ set to:1754688887.761275
2025-08-08T21:34:47.762Z,1754688887.762 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024072
2025-08-08T21:34:48.013Z,1754688888.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274678
2025-08-08T21:34:48.217Z,1754688888.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.00 m.
2025-08-08T21:34:48.223Z,1754688888.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 79.000000 m,
      nav range: 73.783463 m,
      bearing: 100.816804 deg,
      approach rate: -0.658748 m/s,
      LOS rate: -0.000304 deg/s,
      cmd heading: 98.845261 deg,
      new cmd heading: 98.844787 deg.

2025-08-08T21:34:48.270Z,1754688888.270 [DAT](INFO): DAT read: 21:34:47.0087 LVL= 23152, 28081, 23394, 30195, AGC= 64, IDX= 398, 0.29, 1.771, 0.080, 1.915, 1.463, PHS= 0.410,-1.338, 0.408, RAW= 149.9,   6.0, CAL= 149.3,   6.3, ROT=   0.7,  -6.3

2025-08-08T21:34:48.271Z,1754688888.271 [DAT](INFO): got valid direction response:
 21:34:47.0087 LVL= 23152, 28081, 23394, 30195, AGC= 64, IDX= 398, 0.29, 1.771, 0.080, 1.915, 1.463, PHS= 0.410,-1.338, 0.408, RAW= 149.9,   6.0, CAL= 149.3,   6.3, ROT=   0.7,  -6.3

2025-08-08T21:34:48.272Z,1754688888.272 [DAT](INFO): DAT read: Bearing 263.0,  11.2 (Local)

2025-08-08T21:34:48.272Z,1754688888.272 [DAT](INFO): Local bearing/azimuth received:
 Bearing 263.0,  11.2 (Local)

2025-08-08T21:34:48.274Z,1754688888.274 [DAT](INFO): DAT read: Range 11 to 50 : 76.2 m  (Round-trip  101.7 ms) speed  0.6 m/s

2025-08-08T21:34:48.274Z,1754688888.274 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-08T21:34:48.275Z,1754688888.275 [DAT](INFO): direction in FSK: [0.993887,0.012143,0.109734]
2025-08-08T21:34:48.275Z,1754688888.275 [DAT](INFO): publishing direction and range info
2025-08-08T21:34:48.279Z,1754688888.279 [DAT](INFO): ****** received valid address query ******
2025-08-08T21:34:48.279Z,1754688888.279 [DAT](INFO): ****** received valid ping request ******
2025-08-08T21:34:48.279Z,1754688888.279 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-08T21:34:48.517Z,1754688888.517 [DAT](INFO): DAT read: user:1208>

2025-08-08T21:34:48.517Z,1754688888.517 [DAT](INFO): DAT read: Tx time:21:34:48.2529

2025-08-08T21:34:48.518Z,1754688888.518 [DAT](INFO): Ping request sent.
2025-08-08T21:34:48.518Z,1754688888.518 [DAT](INFO): transmitted an acoustic signal
2025-08-08T21:34:48.518Z,1754688888.518 [DAT](INFO): publishing transmit ping time
2025-08-08T21:34:48.519Z,1754688888.519 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000759
2025-08-08T21:34:48.682Z,1754688888.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 76.199997 m,
      deltaT: 3.779766 s,
      deltaX: -2.800003 m,
      approachRate: -0.740787 m/s,
      rangeRepo size: 4

2025-08-08T21:34:48.685Z,1754688888.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 76.199997 m,
      bearing: 100.842487 deg,
      lat: 36.905978 deg,
      lon: -122.115868 deg,
      deltaT: 3.779766 s,
      deltaX: -2.800003 m,
      approachRate: -0.740787 m/s,
      posRepo size: 4

2025-08-08T21:34:48.685Z,1754688888.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.20 m.
2025-08-08T21:34:48.692Z,1754688888.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 76.199997 m,
      nav range: 73.298889 m,
      bearing: 100.842487 deg,
      approach rate: 0.064945 m/s,
      LOS rate: -0.000304 deg/s,
      cmd heading: 98.844783 deg,
      new cmd heading: 98.844360 deg.

2025-08-08T21:34:48.770Z,1754688888.770 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251870
2025-08-08T21:34:49.021Z,1754688889.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502906
2025-08-08T21:34:49.116Z,1754688889.116 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-08T21:34:49.122Z,1754688889.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.20 m.
2025-08-08T21:34:49.136Z,1754688889.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 76.199997 m,
      nav range: 72.997955 m,
      bearing: 100.847231 deg,
      approach rate: -0.683731 m/s,
      LOS rate: 0.010825 deg/s,
      cmd heading: 98.844360 deg,
      new cmd heading: 98.858653 deg.

2025-08-08T21:34:49.273Z,1754688889.273 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754969
2025-08-08T21:34:49.482Z,1754688889.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.20 m.
2025-08-08T21:34:49.485Z,1754688889.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 76.199997 m,
      nav range: 72.746132 m,
      bearing: 100.851582 deg,
      approach rate: -0.698535 m/s,
      LOS rate: 0.012109 deg/s,
      cmd heading: 98.858655 deg,
      new cmd heading: 98.871751 deg.

2025-08-08T21:34:49.527Z,1754688889.527 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.009256
2025-08-08T21:34:49.777Z,1754688889.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258972
2025-08-08T21:34:49.889Z,1754688889.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.20 m.
2025-08-08T21:34:49.892Z,1754688889.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 76.199997 m,
      nav range: 72.471848 m,
      bearing: 100.856746 deg,
      approach rate: -0.674522 m/s,
      LOS rate: 0.012747 deg/s,
      cmd heading: 98.871749 deg,
      new cmd heading: 98.887300 deg.

2025-08-08T21:34:50.029Z,1754688890.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510959
2025-08-08T21:34:50.281Z,1754688890.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763191
2025-08-08T21:34:50.451Z,1754688890.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.20 m.
2025-08-08T21:34:50.457Z,1754688890.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 76.199997 m,
      nav range: 72.114128 m,
      bearing: 100.866967 deg,
      approach rate: -0.637017 m/s,
      LOS rate: 0.018291 deg/s,
      cmd heading: 98.887301 deg,
      new cmd heading: 98.918116 deg.

2025-08-08T21:34:50.533Z,1754688890.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014991
2025-08-08T21:34:50.785Z,1754688890.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267399
2025-08-08T21:34:50.866Z,1754688890.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.20 m.
2025-08-08T21:34:50.873Z,1754688890.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 76.199997 m,
      nav range: 71.840637 m,
      bearing: 100.875256 deg,
      approach rate: -0.658080 m/s,
      LOS rate: 0.020022 deg/s,
      cmd heading: 98.918119 deg,
      new cmd heading: 98.943082 deg.

2025-08-08T21:34:51.037Z,1754688891.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518925
2025-08-08T21:34:51.293Z,1754688891.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774468
2025-08-08T21:34:51.396Z,1754688891.396 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-08T21:34:51.398Z,1754688891.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.20 m.
2025-08-08T21:34:51.401Z,1754688891.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 76.199997 m,
      nav range: 71.477524 m,
      bearing: 100.885736 deg,
      approach rate: -0.682834 m/s,
      LOS rate: 0.019807 deg/s,
      cmd heading: 98.943083 deg,
      new cmd heading: 98.974682 deg.

2025-08-08T21:34:51.543Z,1754688891.543 [DAT](INFO): DAT read: Rx Time:21:34:50.7554

2025-08-08T21:34:51.544Z,1754688891.544 [DAT](INFO): Rx dataTimestamp_ set to:1754688891.543111
2025-08-08T21:34:51.545Z,1754688891.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027051
2025-08-08T21:34:51.770Z,1754688891.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.20 m.
2025-08-08T21:34:51.773Z,1754688891.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 76.199997 m,
      nav range: 71.232887 m,
      bearing: 100.893119 deg,
      approach rate: -0.657602 m/s,
      LOS rate: 0.019914 deg/s,
      cmd heading: 98.974680 deg,
      new cmd heading: 98.996905 deg.

2025-08-08T21:34:51.793Z,1754688891.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274847
2025-08-08T21:34:52.066Z,1754688892.066 [DAT](INFO): DAT read: 21:34:50.7554 LVL= 23520, 27745, 24258, 30563, AGC= 62, IDX= 411, 0.36, 0.219,-1.477, 0.361,-0.083, PHS= 0.404,-1.349, 0.400, RAW= 149.9,   6.3, CAL= 149.2,   6.6, ROT=   0.8,  -6.6

2025-08-08T21:34:52.069Z,1754688892.069 [DAT](INFO): got valid direction response:
 21:34:50.7554 LVL= 23520, 27745, 24258, 30563, AGC= 62, IDX= 411, 0.36, 0.219,-1.477, 0.361,-0.083, PHS= 0.404,-1.349, 0.400, RAW= 149.9,   6.3, CAL= 149.2,   6.6, ROT=   0.8,  -6.6

2025-08-08T21:34:52.071Z,1754688892.071 [DAT](INFO): DAT read: Bearing 262.6,   9.6 (Local)

2025-08-08T21:34:52.071Z,1754688892.071 [DAT](INFO): Local bearing/azimuth received:
 Bearing 262.6,   9.6 (Local)

2025-08-08T21:34:52.073Z,1754688892.073 [DAT](INFO): DAT read: Range 11 to 50 : 73.7 m  (Round-trip  98.3 ms) speed  0.6 m/s

2025-08-08T21:34:52.074Z,1754688892.074 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-08T21:34:52.075Z,1754688892.075 [DAT](INFO): direction in FSK: [0.993276,0.013870,0.114937]
2025-08-08T21:34:52.075Z,1754688892.075 [DAT](INFO): publishing direction and range info
2025-08-08T21:34:52.078Z,1754688892.078 [DAT](INFO): ****** received valid address query ******
2025-08-08T21:34:52.078Z,1754688892.078 [DAT](INFO): ****** received valid ping request ******
2025-08-08T21:34:52.079Z,1754688892.079 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-08T21:34:52.234Z,1754688892.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 73.699997 m,
      deltaT: 3.781852 s,
      deltaX: -2.500000 m,
      approachRate: -0.661052 m/s,
      rangeRepo size: 4

2025-08-08T21:34:52.240Z,1754688892.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 73.699997 m,
      bearing: 100.510413 deg,
      lat: 36.905982 deg,
      lon: -122.115868 deg,
      deltaT: 3.781852 s,
      deltaX: -2.500000 m,
      approachRate: -0.661052 m/s,
      posRepo size: 4

2025-08-08T21:34:52.241Z,1754688892.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.70 m.
2025-08-08T21:34:52.243Z,1754688892.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.699997 m,
      nav range: 70.847816 m,
      bearing: 100.510413 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.019914 deg/s,
      cmd heading: 98.996905 deg,
      new cmd heading: 99.024244 deg.

2025-08-08T21:34:52.298Z,1754688892.298 [DAT](INFO): DAT read: user:1209>

2025-08-08T21:34:52.299Z,1754688892.299 [DAT](INFO): DAT read: Tx time:21:34:52.0530

2025-08-08T21:34:52.299Z,1754688892.299 [DAT](INFO): Ping request sent.
2025-08-08T21:34:52.299Z,1754688892.299 [DAT](INFO): transmitted an acoustic signal
2025-08-08T21:34:52.300Z,1754688892.300 [DAT](INFO): publishing transmit ping time
2025-08-08T21:34:52.301Z,1754688892.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001179
2025-08-08T21:34:52.550Z,1754688892.550 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250570
2025-08-08T21:34:52.600Z,1754688892.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.70 m.
2025-08-08T21:34:52.602Z,1754688892.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.699997 m,
      nav range: 70.589287 m,
      bearing: 100.515841 deg,
      approach rate: -0.694967 m/s,
      LOS rate: 0.014645 deg/s,
      cmd heading: 99.024247 deg,
      new cmd heading: 99.040590 deg.

2025-08-08T21:34:52.801Z,1754688892.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501201
2025-08-08T21:34:53.054Z,1754688893.054 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754099
2025-08-08T21:34:53.078Z,1754688893.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.70 m.
2025-08-08T21:34:53.085Z,1754688893.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.699997 m,
      nav range: 70.287331 m,
      bearing: 100.523373 deg,
      approach rate: -0.631274 m/s,
      LOS rate: 0.015814 deg/s,
      cmd heading: 99.040591 deg,
      new cmd heading: 99.063285 deg.

2025-08-08T21:34:53.305Z,1754688893.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005349
2025-08-08T21:34:53.381Z,1754688893.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.70 m.
2025-08-08T21:34:53.383Z,1754688893.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.699997 m,
      nav range: 70.063606 m,
      bearing: 100.529147 deg,
      approach rate: -0.739018 m/s,
      LOS rate: 0.019133 deg/s,
      cmd heading: 99.063288 deg,
      new cmd heading: 99.080664 deg.

2025-08-08T21:34:53.558Z,1754688893.558 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258466
2025-08-08T21:34:53.782Z,1754688893.782 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-08T21:34:53.809Z,1754688893.809 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509448
2025-08-08T21:34:53.810Z,1754688893.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.70 m.
2025-08-08T21:34:53.817Z,1754688893.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.699997 m,
      nav range: 69.790756 m,
      bearing: 100.536334 deg,
      approach rate: -0.635510 m/s,
      LOS rate: 0.016806 deg/s,
      cmd heading: 99.080664 deg,
      new cmd heading: 99.102311 deg.

2025-08-08T21:34:54.062Z,1754688894.062 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762342
2025-08-08T21:34:54.241Z,1754688894.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.70 m.
2025-08-08T21:34:54.260Z,1754688894.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.699997 m,
      nav range: 69.475761 m,
      bearing: 100.542168 deg,
      approach rate: -0.730455 m/s,
      LOS rate: 0.013589 deg/s,
      cmd heading: 99.102309 deg,
      new cmd heading: 99.119889 deg.

2025-08-08T21:34:54.314Z,1754688894.314 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014000
2025-08-08T21:34:54.566Z,1754688894.566 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266379
2025-08-08T21:34:54.607Z,1754688894.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.70 m.
2025-08-08T21:34:54.610Z,1754688894.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.699997 m,
      nav range: 69.222649 m,
      bearing: 100.546900 deg,
      approach rate: -0.692163 m/s,
      LOS rate: 0.012988 deg/s,
      cmd heading: 99.119890 deg,
      new cmd heading: 99.134138 deg.

2025-08-08T21:34:54.821Z,1754688894.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520988
2025-08-08T21:34:55.069Z,1754688895.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769399
2025-08-08T21:34:55.090Z,1754688895.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.70 m.
2025-08-08T21:34:55.093Z,1754688895.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.699997 m,
      nav range: 68.891365 m,
      bearing: 100.548814 deg,
      approach rate: -0.685185 m/s,
      LOS rate: 0.003979 deg/s,
      cmd heading: 99.134137 deg,
      new cmd heading: 99.139908 deg.

2025-08-08T21:34:55.321Z,1754688895.321 [DAT](INFO): DAT read: Rx Time:21:34:54.5518

2025-08-08T21:34:55.321Z,1754688895.321 [DAT](INFO): Rx dataTimestamp_ set to:1754688895.321014
2025-08-08T21:34:55.322Z,1754688895.322 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022336
2025-08-08T21:34:55.433Z,1754688895.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.70 m.
2025-08-08T21:34:55.440Z,1754688895.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 73.699997 m,
      nav range: 68.664444 m,
      bearing: 100.550126 deg,
      approach rate: -0.661336 m/s,
      LOS rate: 0.003834 deg/s,
      cmd heading: 99.139909 deg,
      new cmd heading: 99.143856 deg.

2025-08-08T21:34:55.573Z,1754688895.573 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273414
2025-08-08T21:34:55.832Z,1754688895.832 [DAT](INFO): DAT read: 21:34:54.5518 LVL= 27312, 30385, 24898, 32227, AGC= 65, IDX= 406, 0.31, 1.056,-0.647, 1.223, 0.783, PHS= 0.375,-1.385, 0.396, RAW= 150.6,   7.0, CAL= 150.0,   7.4, ROT=   0.0,  -7.4

2025-08-08T21:34:55.834Z,1754688895.834 [DAT](INFO): got valid direction response:
 21:34:54.5518 LVL= 27312, 30385, 24898, 32227, AGC= 65, IDX= 406, 0.31, 1.056,-0.647, 1.223, 0.783, PHS= 0.375,-1.385, 0.396, RAW= 150.6,   7.0, CAL= 150.0,   7.4, ROT=   0.0,  -7.4

2025-08-08T21:34:55.835Z,1754688895.835 [DAT](INFO): DAT read: Bearing 263.2,   5.8 (Local)

2025-08-08T21:34:55.835Z,1754688895.835 [DAT](INFO): Local bearing/azimuth received:
 Bearing 263.2,   5.8 (Local)

2025-08-08T21:34:55.837Z,1754688895.837 [DAT](INFO): DAT read: Range 11 to 50 : 71.0 m  (Round-trip  94.7 ms) speed  0.5 m/s

2025-08-08T21:34:55.838Z,1754688895.838 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-08T21:34:55.840Z,1754688895.839 [DAT](INFO): direction in FSK: [0.991671,0.000000,0.128796]
2025-08-08T21:34:55.844Z,1754688895.844 [DAT](INFO): publishing direction and range info
2025-08-08T21:34:55.853Z,1754688895.853 [DAT](INFO): ****** received valid address query ******
2025-08-08T21:34:55.854Z,1754688895.854 [DAT](INFO): ****** received valid ping request ******
2025-08-08T21:34:55.854Z,1754688895.854 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-08T21:34:55.898Z,1754688895.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 71.000000 m,
      deltaT: 3.778319 s,
      deltaX: -2.699997 m,
      approachRate: -0.714603 m/s,
      rangeRepo size: 4

2025-08-08T21:34:55.904Z,1754688895.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 71.000000 m,
      bearing: 100.483664 deg,
      lat: 36.905983 deg,
      lon: -122.115868 deg,
      deltaT: 3.778319 s,
      deltaX: -2.699997 m,
      approachRate: -0.714603 m/s,
      posRepo size: 4

2025-08-08T21:34:55.905Z,1754688895.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.00 m.
2025-08-08T21:34:55.907Z,1754688895.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 71.000000 m,
      nav range: 68.355156 m,
      bearing: 100.483664 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.003834 deg/s,
      cmd heading: 99.143857 deg,
      new cmd heading: 99.149191 deg.

2025-08-08T21:34:56.077Z,1754688896.077 [DAT](INFO): DAT read: user:1210>

2025-08-08T21:34:56.078Z,1754688896.078 [DAT](INFO): DAT read: Tx time:21:34:55.8530

2025-08-08T21:34:56.078Z,1754688896.078 [DAT](INFO): Ping request sent.
2025-08-08T21:34:56.078Z,1754688896.078 [DAT](INFO): transmitted an acoustic signal
2025-08-08T21:34:56.078Z,1754688896.078 [DAT](INFO): publishing transmit ping time
2025-08-08T21:34:56.079Z,1754688896.079 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000755
2025-08-08T21:34:56.272Z,1754688896.272 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-08T21:34:56.274Z,1754688896.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.00 m.
2025-08-08T21:34:56.281Z,1754688896.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 71.000000 m,
      nav range: 68.066582 m,
      bearing: 100.484050 deg,
      approach rate: -0.765037 m/s,
      LOS rate: 0.001029 deg/s,
      cmd heading: 99.149191 deg,
      new cmd heading: 99.150356 deg.

2025-08-08T21:34:56.330Z,1754688896.330 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251537
2025-08-08T21:34:56.581Z,1754688896.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502740
2025-08-08T21:34:56.689Z,1754688896.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.00 m.
2025-08-08T21:34:56.691Z,1754688896.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 71.000000 m,
      nav range: 67.771782 m,
      bearing: 100.484364 deg,
      approach rate: -0.711840 m/s,
      LOS rate: 0.000760 deg/s,
      cmd heading: 99.150359 deg,
      new cmd heading: 99.151303 deg.

2025-08-08T21:34:56.834Z,1754688896.834 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755164
2025-08-08T21:34:57.085Z,1754688897.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006789
2025-08-08T21:34:57.129Z,1754688897.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.00 m.
2025-08-08T21:34:57.131Z,1754688897.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 71.000000 m,
      nav range: 67.457695 m,
      bearing: 100.479029 deg,
      approach rate: -0.713508 m/s,
      LOS rate: -0.012175 deg/s,
      cmd heading: 99.151302 deg,
      new cmd heading: 99.135223 deg.

2025-08-08T21:34:57.337Z,1754688897.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258856
2025-08-08T21:34:57.489Z,1754688897.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.00 m.
2025-08-08T21:34:57.491Z,1754688897.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 71.000000 m,
      nav range: 67.199493 m,
      bearing: 100.474470 deg,
      approach rate: -0.717137 m/s,
      LOS rate: -0.012711 deg/s,
      cmd heading: 99.135223 deg,
      new cmd heading: 99.121494 deg.

2025-08-08T21:34:57.589Z,1754688897.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511063
2025-08-08T21:34:57.841Z,1754688897.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763121
2025-08-08T21:34:57.933Z,1754688897.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.00 m.
2025-08-08T21:34:57.936Z,1754688897.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 71.000000 m,
      nav range: 66.881699 m,
      bearing: 100.468933 deg,
      approach rate: -0.715337 m/s,
      LOS rate: -0.012523 deg/s,
      cmd heading: 99.121495 deg,
      new cmd heading: 99.104805 deg.

2025-08-08T21:34:58.097Z,1754688898.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.017442
2025-08-08T21:34:58.290Z,1754688898.290 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-08T21:34:58.292Z,1754688898.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.00 m.
2025-08-08T21:34:58.295Z,1754688898.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 71.000000 m,
      nav range: 66.623734 m,
      bearing: 100.457469 deg,
      approach rate: -0.719257 m/s,
      LOS rate: -0.032089 deg/s,
      cmd heading: 99.104802 deg,
      new cmd heading: 99.070276 deg.

2025-08-08T21:34:58.345Z,1754688898.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266933
2025-08-08T21:34:58.597Z,1754688898.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518807
2025-08-08T21:34:58.682Z,1754688898.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.00 m.
2025-08-08T21:34:58.684Z,1754688898.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 71.000000 m,
      nav range: 66.343063 m,
      bearing: 100.444817 deg,
      approach rate: -0.720060 m/s,
      LOS rate: -0.032595 deg/s,
      cmd heading: 99.070275 deg,
      new cmd heading: 99.032160 deg.

2025-08-08T21:34:58.849Z,1754688898.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771311
2025-08-08T21:34:59.101Z,1754688899.101 [DAT](INFO): DAT read: Rx Time:21:34:58.3485

2025-08-08T21:34:59.102Z,1754688899.102 [DAT](INFO): Rx dataTimestamp_ set to:1754688899.101394
2025-08-08T21:34:59.102Z,1754688899.102 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024172
2025-08-08T21:34:59.169Z,1754688899.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.00 m.
2025-08-08T21:34:59.172Z,1754688899.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 71.000000 m,
      nav range: 66.016510 m,
      bearing: 100.428212 deg,
      approach rate: -0.669956 m/s,
      LOS rate: -0.034236 deg/s,
      cmd heading: 99.032163 deg,
      new cmd heading: 98.982101 deg.

2025-08-08T21:34:59.353Z,1754688899.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274662
2025-08-08T21:34:59.545Z,1754688899.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.00 m.
2025-08-08T21:34:59.554Z,1754688899.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 71.000000 m,
      nav range: 65.766411 m,
      bearing: 100.415260 deg,
      approach rate: -0.674378 m/s,
      LOS rate: -0.035057 deg/s,
      cmd heading: 98.982097 deg,
      new cmd heading: 98.943094 deg.

2025-08-08T21:34:59.613Z,1754688899.613 [DAT](INFO): DAT read: 21:34:58.3485 LVL= 30016, 32753, 31074, 32755, AGC= 69, IDX= 404,-0.10, 1.647,-0.079, 1.862, 1.398, PHS= 0.351,-1.432, 0.420, RAW= 151.9,   7.3, CAL= 151.3,   7.7, ROT= 358.7,  -7.7

2025-08-08T21:34:59.615Z,1754688899.615 [DAT](INFO): got valid direction response:
 21:34:58.3485 LVL= 30016, 32753, 31074, 32755, AGC= 69, IDX= 404,-0.10, 1.647,-0.079, 1.862, 1.398, PHS= 0.351,-1.432, 0.420, RAW= 151.9,   7.3, CAL= 151.3,   7.7, ROT= 358.7,  -7.7

2025-08-08T21:34:59.618Z,1754688899.618 [DAT](INFO): DAT read: Bearing 263.4,   1.9 (Local)

2025-08-08T21:34:59.618Z,1754688899.618 [DAT](INFO): Local bearing/azimuth received:
 Bearing 263.4,   1.9 (Local)

2025-08-08T21:34:59.620Z,1754688899.620 [DAT](INFO): DAT read: Range 11 to 50 : 68.5 m  (Round-trip  91.4 ms) speed  0.7 m/s

2025-08-08T21:34:59.621Z,1754688899.621 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-08T21:34:59.623Z,1754688899.623 [DAT](INFO): direction in FSK: [0.990728,-0.022483,0.133986]
2025-08-08T21:34:59.623Z,1754688899.623 [DAT](INFO): publishing direction and range info
2025-08-08T21:34:59.631Z,1754688899.631 [DAT](INFO): ****** received valid address query ******
2025-08-08T21:34:59.632Z,1754688899.632 [DAT](INFO): ****** received valid ping request ******
2025-08-08T21:34:59.639Z,1754688899.639 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-08T21:34:59.857Z,1754688899.857 [DAT](INFO): DAT read: user:1211>

2025-08-08T21:34:59.859Z,1754688899.859 [DAT](INFO): DAT read: Tx time:21:34:59.6530

2025-08-08T21:34:59.859Z,1754688899.859 [DAT](INFO): Ping request sent.
2025-08-08T21:34:59.859Z,1754688899.859 [DAT](INFO): transmitted an acoustic signal
2025-08-08T21:34:59.859Z,1754688899.859 [DAT](INFO): publishing transmit ping time
2025-08-08T21:34:59.861Z,1754688899.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001459
2025-08-08T21:34:59.957Z,1754688899.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 68.500000 m,
      deltaT: 3.780652 s,
      deltaX: -2.500000 m,
      approachRate: -0.661262 m/s,
      rangeRepo size: 4

2025-08-08T21:34:59.959Z,1754688899.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 68.500000 m,
      bearing: 99.519437 deg,
      lat: 36.905991 deg,
      lon: -122.115863 deg,
      deltaT: 3.780652 s,
      deltaX: -2.500000 m,
      approachRate: -0.661262 m/s,
      posRepo size: 4

2025-08-08T21:34:59.959Z,1754688899.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.50 m.
2025-08-08T21:34:59.966Z,1754688899.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 68.500000 m,
      nav range: 65.768333 m,
      bearing: 99.519437 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.035057 deg/s,
      cmd heading: 98.943097 deg,
      new cmd heading: 98.899779 deg.

2025-08-08T21:35:00.111Z,1754688900.111 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251699
2025-08-08T21:35:00.309Z,1754688900.309 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-08T21:35:00.311Z,1754688900.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.50 m.
2025-08-08T21:35:00.314Z,1754688900.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 68.500000 m,
      nav range: 65.485710 m,
      bearing: 99.500096 deg,
      approach rate: -0.786879 m/s,
      LOS rate: -0.054083 deg/s,
      cmd heading: 98.899780 deg,
      new cmd heading: 98.841505 deg.

2025-08-08T21:35:00.361Z,1754688900.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502443
2025-08-08T21:35:00.613Z,1754688900.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753891
2025-08-08T21:35:00.710Z,1754688900.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.50 m.
2025-08-08T21:35:00.713Z,1754688900.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 68.500000 m,
      nav range: 65.205780 m,
      bearing: 99.480553 deg,
      approach rate: -0.700942 m/s,
      LOS rate: -0.049144 deg/s,
      cmd heading: 98.841505 deg,
      new cmd heading: 98.782625 deg.

2025-08-08T21:35:00.865Z,1754688900.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006175
2025-08-08T21:35:01.128Z,1754688901.128 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.268463
2025-08-08T21:35:01.191Z,1754688901.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.50 m.
2025-08-08T21:35:01.194Z,1754688901.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 68.500000 m,
      nav range: 64.875145 m,
      bearing: 99.454450 deg,
      approach rate: -0.688224 m/s,
      LOS rate: -0.054611 deg/s,
      cmd heading: 98.782629 deg,
      new cmd heading: 98.703920 deg.

2025-08-08T21:35:01.377Z,1754688901.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.517852
2025-08-08T21:35:01.505Z,1754688901.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.50 m.
2025-08-08T21:35:01.508Z,1754688901.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 68.500000 m,
      nav range: 64.641121 m,
      bearing: 99.435757 deg,
      approach rate: -0.744529 m/s,
      LOS rate: -0.059686 deg/s,
      cmd heading: 98.703917 deg,
      new cmd heading: 98.647635 deg.

2025-08-08T21:35:01.629Z,1754688901.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.769831
2025-08-08T21:35:01.881Z,1754688901.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.021927
2025-08-08T21:35:01.906Z,1754688901.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.50 m.
2025-08-08T21:35:01.909Z,1754688901.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 68.500000 m,
      nav range: 64.356483 m,
      bearing: 99.412698 deg,
      approach rate: -0.709405 m/s,
      LOS rate: -0.057726 deg/s,
      cmd heading: 98.647637 deg,
      new cmd heading: 98.578152 deg.

2025-08-08T21:35:02.137Z,1754688902.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.277319
2025-08-08T21:35:02.332Z,1754688902.332 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-08T21:35:02.334Z,1754688902.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.50 m.
2025-08-08T21:35:02.337Z,1754688902.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 68.500000 m,
      nav range: 64.056030 m,
      bearing: 99.395513 deg,
      approach rate: -0.702126 m/s,
      LOS rate: -0.040348 deg/s,
      cmd heading: 98.578153 deg,
      new cmd heading: 98.526357 deg.

2025-08-08T21:35:02.385Z,1754688902.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.526000
2025-08-08T21:35:02.637Z,1754688902.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.777928
2025-08-08T21:35:02.731Z,1754688902.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.50 m.
2025-08-08T21:35:02.750Z,1754688902.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 68.500000 m,
      nav range: 63.779930 m,
      bearing: 99.379544 deg,
      approach rate: -0.696177 m/s,
      LOS rate: -0.040439 deg/s,
      cmd heading: 98.526360 deg,
      new cmd heading: 98.478246 deg.

2025-08-08T21:35:02.889Z,1754688902.889 [DAT](INFO): DAT read: Rx Time:21:35:02.1449

2025-08-08T21:35:02.890Z,1754688902.890 [DAT](INFO): Rx dataTimestamp_ set to:1754688902.889640
2025-08-08T21:35:02.890Z,1754688902.890 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.031493
2025-08-08T21:35:03.145Z,1754688903.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.284702
2025-08-08T21:35:03.203Z,1754688903.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.50 m.
2025-08-08T21:35:03.206Z,1754688903.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 68.500000 m,
      nav range: 63.452728 m,
      bearing: 99.370160 deg,
      approach rate: -0.692747 m/s,
      LOS rate: -0.019969 deg/s,
      cmd heading: 98.478248 deg,
      new cmd heading: 98.449952 deg.

2025-08-08T21:35:03.399Z,1754688903.399 [DAT](INFO): DAT read: 21:35:02.1449 LVL= 24560, 32161, 19954, 32755, AGC= 66, IDX= 399, 0.04,-0.371,-2.071,-0.100,-0.587, PHS= 0.318,-1.439, 0.442, RAW= 153.4,   7.5, CAL= 152.8,   7.9, ROT= 357.2,  -7.9

2025-08-08T21:35:03.400Z,1754688903.400 [DAT](INFO): got valid direction response:
 21:35:02.1449 LVL= 24560, 32161, 19954, 32755, AGC= 66, IDX= 399, 0.04,-0.371,-2.071,-0.100,-0.587, PHS= 0.318,-1.439, 0.442, RAW= 153.4,   7.5, CAL= 152.8,   7.9, ROT= 357.2,  -7.9

2025-08-08T21:35:03.401Z,1754688903.401 [DAT](INFO): DAT read: Bearing 263.1,  -1.9 (Local)

2025-08-08T21:35:03.402Z,1754688903.402 [DAT](INFO): Local bearing/azimuth received:
 Bearing 263.1,  -1.9 (Local)

2025-08-08T21:35:03.403Z,1754688903.403 [DAT](INFO): DAT read: Range 11 to 50 : 65.7 m  (Round-trip  87.7 ms) speed  0.7 m/s

2025-08-08T21:35:03.404Z,1754688903.404 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-08T21:35:03.405Z,1754688903.405 [DAT](INFO): direction in FSK: [0.989327,-0.048386,0.137445]
2025-08-08T21:35:03.405Z,1754688903.405 [DAT](INFO): publishing direction and range info
2025-08-08T21:35:03.411Z,1754688903.411 [DAT](INFO): ****** received valid address query ******
2025-08-08T21:35:03.412Z,1754688903.412 [DAT](INFO): ****** received valid ping request ******
2025-08-08T21:35:03.413Z,1754688903.413 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-08T21:35:03.597Z,1754688903.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 65.699997 m,
      deltaT: 3.788294 s,
      deltaX: -2.800003 m,
      approachRate: -0.739120 m/s,
      rangeRepo size: 4

2025-08-08T21:35:03.599Z,1754688903.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 65.699997 m,
      bearing: 98.351717 deg,
      lat: 36.906001 deg,
      lon: -122.115856 deg,
      deltaT: 3.788294 s,
      deltaX: -2.800003 m,
      approachRate: -0.739120 m/s,
      posRepo size: 4

2025-08-08T21:35:03.604Z,1754688903.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.70 m.
2025-08-08T21:35:03.607Z,1754688903.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.699997 m,
      nav range: 63.640240 m,
      bearing: 98.351717 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.019969 deg/s,
      cmd heading: 98.449951 deg,
      new cmd heading: 98.426388 deg.

2025-08-08T21:35:03.645Z,1754688903.645 [DAT](INFO): DAT read: user:1212>

2025-08-08T21:35:03.646Z,1754688903.646 [DAT](INFO): DAT read: Tx time:21:35:03.4030

2025-08-08T21:35:03.646Z,1754688903.646 [DAT](INFO): Ping request sent.
2025-08-08T21:35:03.646Z,1754688903.646 [DAT](INFO): transmitted an acoustic signal
2025-08-08T21:35:03.646Z,1754688903.646 [DAT](INFO): publishing transmit ping time
2025-08-08T21:35:03.647Z,1754688903.647 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000743
2025-08-08T21:35:03.901Z,1754688903.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.255210
2025-08-08T21:35:03.963Z,1754688903.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.70 m.
2025-08-08T21:35:03.966Z,1754688903.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.699997 m,
      nav range: 63.374348 m,
      bearing: 98.339717 deg,
      approach rate: -0.725189 m/s,
      LOS rate: -0.032864 deg/s,
      cmd heading: 98.426386 deg,
      new cmd heading: 98.390237 deg.

2025-08-08T21:35:04.157Z,1754688904.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.510059
2025-08-08T21:35:04.382Z,1754688904.382 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-08T21:35:04.385Z,1754688904.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.70 m.
2025-08-08T21:35:04.387Z,1754688904.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.699997 m,
      nav range: 63.091576 m,
      bearing: 98.332173 deg,
      approach rate: -0.670626 m/s,
      LOS rate: -0.017971 deg/s,
      cmd heading: 98.390234 deg,
      new cmd heading: 98.367501 deg.

2025-08-08T21:35:04.406Z,1754688904.406 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.759790
2025-08-08T21:35:04.657Z,1754688904.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.010695
2025-08-08T21:35:04.780Z,1754688904.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.70 m.
2025-08-08T21:35:04.783Z,1754688904.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.699997 m,
      nav range: 62.830112 m,
      bearing: 98.325305 deg,
      approach rate: -0.661184 m/s,
      LOS rate: -0.017442 deg/s,
      cmd heading: 98.367503 deg,
      new cmd heading: 98.346812 deg.

2025-08-08T21:35:04.909Z,1754688904.909 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262496
2025-08-08T21:35:05.163Z,1754688905.163 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.516829
2025-08-08T21:35:05.239Z,1754688905.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.70 m.
2025-08-08T21:35:05.241Z,1754688905.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.699997 m,
      nav range: 62.517311 m,
      bearing: 98.325269 deg,
      approach rate: -0.682382 m/s,
      LOS rate: -0.000079 deg/s,
      cmd heading: 98.346815 deg,
      new cmd heading: 98.346705 deg.

2025-08-08T21:35:05.413Z,1754688905.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766524
2025-08-08T21:35:05.578Z,1754688905.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.70 m.
2025-08-08T21:35:05.581Z,1754688905.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.699997 m,
      nav range: 62.289013 m,
      bearing: 98.325465 deg,
      approach rate: -0.672149 m/s,
      LOS rate: 0.000581 deg/s,
      cmd heading: 98.346705 deg,
      new cmd heading: 98.347297 deg.

2025-08-08T21:35:05.666Z,1754688905.666 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.019835
2025-08-08T21:35:05.917Z,1754688905.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270660
2025-08-08T21:35:05.992Z,1754688905.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.70 m.
2025-08-08T21:35:05.994Z,1754688905.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.699997 m,
      nav range: 62.017040 m,
      bearing: 98.325893 deg,
      approach rate: -0.670857 m/s,
      LOS rate: 0.001059 deg/s,
      cmd heading: 98.347300 deg,
      new cmd heading: 98.348588 deg.

2025-08-08T21:35:06.171Z,1754688906.171 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.524657
2025-08-08T21:35:06.418Z,1754688906.418 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-08T21:35:06.421Z,1754688906.421 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774730
2025-08-08T21:35:06.422Z,1754688906.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.70 m.
2025-08-08T21:35:06.424Z,1754688906.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.699997 m,
      nav range: 61.725925 m,
      bearing: 98.334569 deg,
      approach rate: -0.667165 m/s,
      LOS rate: 0.019977 deg/s,
      cmd heading: 98.348591 deg,
      new cmd heading: 98.374742 deg.

2025-08-08T21:35:06.673Z,1754688906.673 [DAT](INFO): DAT read: Rx Time:21:35:05.8914

2025-08-08T21:35:06.673Z,1754688906.673 [DAT](INFO): Rx dataTimestamp_ set to:1754688906.673091
2025-08-08T21:35:06.674Z,1754688906.674 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027726
2025-08-08T21:35:06.784Z,1754688906.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.70 m.
2025-08-08T21:35:06.787Z,1754688906.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 65.699997 m,
      nav range: 61.482723 m,
      bearing: 98.342225 deg,
      approach rate: -0.667793 m/s,
      LOS rate: 0.021107 deg/s,
      cmd heading: 98.374743 deg,
      new cmd heading: 98.397804 deg.

2025-08-08T21:35:06.925Z,1754688906.925 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278625
2025-08-08T21:35:07.194Z,1754688907.194 [DAT](INFO): DAT read: 21:35:05.8914 LVL= 24912, 32753, 23538, 32755, AGC= 65, IDX= 411,-0.26, 0.573,-1.100, 0.885, 0.398, PHS= 0.278,-1.453, 0.443, RAW= 154.5,   8.1, CAL= 154.1,   8.5, ROT= 355.9,  -8.5

2025-08-08T21:35:07.206Z,1754688907.206 [DAT](INFO): got valid direction response:
 21:35:05.8914 LVL= 24912, 32753, 23538, 32755, AGC= 65, IDX= 411,-0.26, 0.573,-1.100, 0.885, 0.398, PHS= 0.278,-1.453, 0.443, RAW= 154.5,   8.1, CAL= 154.1,   8.5, ROT= 355.9,  -8.5

2025-08-08T21:35:07.212Z,1754688907.212 [DAT](INFO): DAT read: Bearing 263.5,  -5.0 (Local)

2025-08-08T21:35:07.213Z,1754688907.213 [DAT](INFO): Local bearing/azimuth received:
 Bearing 263.5,  -5.0 (Local)

2025-08-08T21:35:07.248Z,1754688907.248 [DAT](INFO): DAT read: Range 11 to 50 : 63.1 m  (Round-trip  84.2 ms) speed  0.6 m/s

2025-08-08T21:35:07.249Z,1754688907.249 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-08T21:35:07.250Z,1754688907.250 [DAT](INFO): direction in FSK: [0.986485,-0.070712,0.147809]
2025-08-08T21:35:07.250Z,1754688907.250 [DAT](INFO): publishing direction and range info
2025-08-08T21:35:07.266Z,1754688907.266 [DAT](INFO): ****** received valid address query ******
2025-08-08T21:35:07.266Z,1754688907.266 [DAT](INFO): ****** received valid ping request ******
2025-08-08T21:35:07.266Z,1754688907.266 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-08T21:35:07.351Z,1754688907.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 63.099998 m,
      deltaT: 3.784234 s,
      deltaX: -2.599998 m,
      approachRate: -0.687061 m/s,
      rangeRepo size: 4

2025-08-08T21:35:07.358Z,1754688907.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 63.099998 m,
      bearing: 97.329745 deg,
      lat: 36.906009 deg,
      lon: -122.115843 deg,
      deltaT: 3.784234 s,
      deltaX: -2.599998 m,
      approachRate: -0.687061 m/s,
      posRepo size: 4

2025-08-08T21:35:07.358Z,1754688907.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m.
2025-08-08T21:35:07.363Z,1754688907.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 63.099998 m,
      nav range: 62.113243 m,
      bearing: 97.329745 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.021107 deg/s,
      cmd heading: 98.397802 deg,
      new cmd heading: 98.433669 deg.

2025-08-08T21:35:07.430Z,1754688907.430 [DAT](INFO): DAT read: user:1213>

2025-08-08T21:35:07.431Z,1754688907.431 [DAT](INFO): DAT read: Tx time:21:35:07.2545

2025-08-08T21:35:07.431Z,1754688907.431 [DAT](INFO): Ping request sent.
2025-08-08T21:35:07.431Z,1754688907.431 [DAT](INFO): transmitted an acoustic signal
2025-08-08T21:35:07.432Z,1754688907.432 [DAT](INFO): publishing transmit ping time
2025-08-08T21:35:07.433Z,1754688907.433 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001188
2025-08-08T21:35:07.634Z,1754688907.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m.
2025-08-08T21:35:07.640Z,1754688907.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 63.099998 m,
      nav range: 61.910084 m,
      bearing: 97.333972 deg,
      approach rate: -0.718012 m/s,
      LOS rate: 0.014989 deg/s,
      cmd heading: 98.433667 deg,
      new cmd heading: 98.446391 deg.

2025-08-08T21:35:07.681Z,1754688907.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249903
2025-08-08T21:35:07.933Z,1754688907.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501676
2025-08-08T21:35:07.996Z,1754688907.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m.
2025-08-08T21:35:07.998Z,1754688907.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 63.099998 m,
      nav range: 61.657936 m,
      bearing: 97.339247 deg,
      approach rate: -0.696516 m/s,
      LOS rate: 0.014630 deg/s,
      cmd heading: 98.446392 deg,
      new cmd heading: 98.462281 deg.

2025-08-08T21:35:08.187Z,1754688908.187 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755746
2025-08-08T21:35:08.424Z,1754688908.424 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-08T21:35:08.426Z,1754688908.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m.
2025-08-08T21:35:08.429Z,1754688908.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 63.099998 m,
      nav range: 61.359985 m,
      bearing: 97.345249 deg,
      approach rate: -0.691648 m/s,
      LOS rate: 0.014002 deg/s,
      cmd heading: 98.462279 deg,
      new cmd heading: 98.480375 deg.

2025-08-08T21:35:08.437Z,1754688908.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005757
2025-08-08T21:35:08.689Z,1754688908.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257764
2025-08-08T21:35:08.831Z,1754688908.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m.
2025-08-08T21:35:08.835Z,1754688908.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 63.099998 m,
      nav range: 61.089939 m,
      bearing: 97.350741 deg,
      approach rate: -0.668074 m/s,
      LOS rate: 0.013645 deg/s,
      cmd heading: 98.480372 deg,
      new cmd heading: 98.496918 deg.

2025-08-08T21:35:08.941Z,1754688908.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509769
2025-08-08T21:35:09.196Z,1754688909.196 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763944
2025-08-08T21:35:09.265Z,1754688909.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m.
2025-08-08T21:35:09.268Z,1754688909.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 63.099998 m,
      nav range: 60.779037 m,
      bearing: 97.356815 deg,
      approach rate: -0.715355 m/s,
      LOS rate: 0.014049 deg/s,
      cmd heading: 98.496922 deg,
      new cmd heading: 98.515239 deg.

2025-08-08T21:35:09.445Z,1754688909.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013607
2025-08-08T21:35:09.631Z,1754688909.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m.
2025-08-08T21:35:09.634Z,1754688909.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 63.099998 m,
      nav range: 60.513988 m,
      bearing: 97.355587 deg,
      approach rate: -0.723557 m/s,
      LOS rate: -0.003368 deg/s,
      cmd heading: 98.515240 deg,
      new cmd heading: 98.511539 deg.

2025-08-08T21:35:09.697Z,1754688909.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265883
2025-08-08T21:35:09.949Z,1754688909.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517634
2025-08-08T21:35:10.083Z,1754688910.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m.
2025-08-08T21:35:10.085Z,1754688910.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 63.099998 m,
      nav range: 60.186680 m,
      bearing: 97.353771 deg,
      approach rate: -0.725579 m/s,
      LOS rate: -0.004048 deg/s,
      cmd heading: 98.511538 deg,
      new cmd heading: 98.506060 deg.

2025-08-08T21:35:10.206Z,1754688910.206 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774767
2025-08-08T21:35:10.457Z,1754688910.457 [DAT](INFO): DAT read: Rx Time:21:35:09.7394

2025-08-08T21:35:10.457Z,1754688910.457 [DAT](INFO): Rx dataTimestamp_ set to:1754688910.457172
2025-08-08T21:35:10.458Z,1754688910.458 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026870
2025-08-08T21:35:10.617Z,1754688910.617 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-08T21:35:10.619Z,1754688910.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.10 m.
2025-08-08T21:35:10.629Z,1754688910.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 63.099998 m,
      nav range: 59.827435 m,
      bearing: 97.345022 deg,
      approach rate: -0.670152 m/s,
      LOS rate: -0.016418 deg/s,
      cmd heading: 98.506061 deg,
      new cmd heading: 98.479657 deg.

2025-08-08T21:35:10.710Z,1754688910.710 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278076
2025-08-08T21:35:10.966Z,1754688910.966 [DAT](INFO): DAT read: 21:35:09.7394 LVL= 25072, 32753, 27282, 32755, AGC= 65, IDX= 408,-0.24,-2.215, 2.410,-1.893,-2.360, PHS= 0.247,-1.469, 0.423, RAW= 154.8,   8.9, CAL= 154.5,   9.5, ROT= 355.5,  -9.5

2025-08-08T21:35:10.967Z,1754688910.967 [DAT](INFO): got valid direction response:
 21:35:09.7394 LVL= 25072, 32753, 27282, 32755, AGC= 65, IDX= 408,-0.24,-2.215, 2.410,-1.893,-2.360, PHS= 0.247,-1.469, 0.423, RAW= 154.8,   8.9, CAL= 154.5,   9.5, ROT= 355.5,  -9.5

2025-08-08T21:35:10.969Z,1754688910.969 [DAT](INFO): DAT read: Bearing 264.5,  -7.0 (Local)

2025-08-08T21:35:10.969Z,1754688910.969 [DAT](INFO): Local bearing/azimuth received:
 Bearing 264.5,  -7.0 (Local)

2025-08-08T21:35:10.971Z,1754688910.971 [DAT](INFO): DAT read: Range 11 to 50 : 60.6 m  (Round-trip  80.8 ms) speed  0.6 m/s

2025-08-08T21:35:10.971Z,1754688910.971 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-08T21:35:10.973Z,1754688910.973 [DAT](INFO): direction in FSK: [0.983245,-0.077383,0.165048]
2025-08-08T21:35:10.973Z,1754688910.973 [DAT](INFO): publishing direction and range info
2025-08-08T21:35:10.985Z,1754688910.985 [DAT](INFO): ****** received valid address query ******
2025-08-08T21:35:10.985Z,1754688910.985 [DAT](INFO): ****** received valid ping request ******
2025-08-08T21:35:10.985Z,1754688910.985 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-08T21:35:11.037Z,1754688911.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 60.599998 m,
      deltaT: 3.782804 s,
      deltaX: -2.500000 m,
      approachRate: -0.660885 m/s,
      rangeRepo size: 4

2025-08-08T21:35:11.039Z,1754688911.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 60.599998 m,
      bearing: 96.182184 deg,
      lat: 36.906020 deg,
      lon: -122.115840 deg,
      deltaT: 3.782804 s,
      deltaX: -2.500000 m,
      approachRate: -0.660885 m/s,
      posRepo size: 4

2025-08-08T21:35:11.039Z,1754688911.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.60 m.
2025-08-08T21:35:11.055Z,1754688911.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 60.599998 m,
      nav range: 59.684883 m,
      bearing: 96.182184 deg,
      approach rate: -141133056.000000 m/s,
      LOS rate: -0.016418 deg/s,
      cmd heading: 98.479655 deg,
      new cmd heading: 98.459168 deg.

2025-08-08T21:35:11.216Z,1754688911.216 [DAT](INFO): DAT read: user:1214>

2025-08-08T21:35:11.218Z,1754688911.218 [DAT](INFO): DAT read: Tx time:21:35:11.0029

2025-08-08T21:35:11.219Z,1754688911.219 [DAT](INFO): Ping request sent.
2025-08-08T21:35:11.220Z,1754688911.220 [DAT](INFO): transmitted an acoustic signal
2025-08-08T21:35:11.221Z,1754688911.221 [DAT](INFO): publishing transmit ping time
2025-08-08T21:35:11.223Z,1754688911.223 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002870
2025-08-08T21:35:11.465Z,1754688911.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.245671
2025-08-08T21:35:11.468Z,1754688911.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.60 m.
2025-08-08T21:35:11.471Z,1754688911.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 60.599998 m,
      nav range: 59.369282 m,
      bearing: 96.155821 deg,
      approach rate: -0.735081 m/s,
      LOS rate: -0.061731 deg/s,
      cmd heading: 98.459171 deg,
      new cmd heading: 98.379660 deg.

2025-08-08T21:35:11.719Z,1754688911.719 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.499479
2025-08-08T21:35:11.853Z,1754688911.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.60 m.
2025-08-08T21:35:11.857Z,1754688911.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 60.599998 m,
      nav range: 59.092377 m,
      bearing: 96.132238 deg,
      approach rate: -0.713368 m/s,
      LOS rate: -0.061039 deg/s,
      cmd heading: 98.379661 deg,
      new cmd heading: 98.308582 deg.

2025-08-08T21:35:11.969Z,1754688911.969 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.749704
2025-08-08T21:35:12.221Z,1754688912.221 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.001557
2025-08-08T21:35:12.319Z,1754688912.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.60 m.
2025-08-08T21:35:12.327Z,1754688912.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 60.599998 m,
      nav range: 58.788734 m,
      bearing: 96.105897 deg,
      approach rate: -0.650230 m/s,
      LOS rate: -0.056700 deg/s,
      cmd heading: 98.308579 deg,
      new cmd heading: 98.229146 deg.

2025-08-08T21:35:12.473Z,1754688912.473 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.253575
2025-08-08T21:35:12.679Z,1754688912.679 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-08T21:35:12.681Z,1754688912.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.60 m.
2025-08-08T21:35:12.685Z,1754688912.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 60.599998 m,
      nav range: 58.512333 m,
      bearing: 96.079265 deg,
      approach rate: -0.762712 m/s,
      LOS rate: -0.073835 deg/s,
      cmd heading: 98.229144 deg,
      new cmd heading: 98.148872 deg.

2025-08-08T21:35:12.730Z,1754688912.730 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510436
2025-08-08T21:35:12.981Z,1754688912.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761544
2025-08-08T21:35:13.065Z,1754688913.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.60 m.
2025-08-08T21:35:13.068Z,1754688913.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 60.599998 m,
      nav range: 58.247284 m,
      bearing: 96.053448 deg,
      approach rate: -0.690593 m/s,
      LOS rate: -0.067573 deg/s,
      cmd heading: 98.148869 deg,
      new cmd heading: 98.071065 deg.

2025-08-08T21:35:13.233Z,1754688913.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013743
2025-08-08T21:35:13.485Z,1754688913.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265739
2025-08-08T21:35:13.486Z,1754688913.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.60 m.
2025-08-08T21:35:13.511Z,1754688913.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 60.599998 m,
      nav range: 57.965000 m,
      bearing: 96.019340 deg,
      approach rate: -0.670108 m/s,
      LOS rate: -0.081362 deg/s,
      cmd heading: 98.071066 deg,
      new cmd heading: 97.968245 deg.

2025-08-08T21:35:13.737Z,1754688913.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517604
2025-08-08T21:35:13.883Z,1754688913.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.60 m.
2025-08-08T21:35:13.886Z,1754688913.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 60.599998 m,
      nav range: 57.697681 m,
      bearing: 95.986858 deg,
      approach rate: -0.674519 m/s,
      LOS rate: -0.082341 deg/s,
      cmd heading: 97.968245 deg,
      new cmd heading: 97.870347 deg.

2025-08-08T21:35:13.989Z,1754688913.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769656
2025-08-08T21:35:14.241Z,1754688914.241 [DAT](INFO): DAT read: Rx Time:21:35:13.4844

2025-08-08T21:35:14.241Z,1754688914.241 [DAT](INFO): Rx dataTimestamp_ set to:1754688914.241144
2025-08-08T21:35:14.242Z,1754688914.242 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022760
2025-08-08T21:35:14.362Z,1754688914.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.60 m.
2025-08-08T21:35:14.369Z,1754688914.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 60.599998 m,
      nav range: 57.386322 m,
      bearing: 95.948906 deg,
      approach rate: -0.649297 m/s,
      LOS rate: -0.079575 deg/s,
      cmd heading: 97.870348 deg,
      new cmd heading: 97.755872 deg.

2025-08-08T21:35:14.493Z,1754688914.493 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273544
2025-08-08T21:35:14.724Z,1754688914.724 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-08T21:35:14.726Z,1754688914.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.60 m.
2025-08-08T21:35:14.752Z,1754688914.752 [DAT](INFO): DAT read: 21:35:13.4844 LVL= 22336, 23857, 21826, 30515, AGC= 66, IDX= 405,-0.30,-1.395,-3.014,-0.987,-1.468, PHS= 0.175,-1.501, 0.437, RAW= 157.2,   9.8, CAL= 157.0,  10.6, ROT= 353.0, -10.6

2025-08-08T21:35:14.753Z,1754688914.753 [DAT](INFO): got valid direction response:
 21:35:13.4844 LVL= 22336, 23857, 21826, 30515, AGC= 66, IDX= 405,-0.30,-1.395,-3.014,-0.987,-1.468, PHS= 0.175,-1.501, 0.437, RAW= 157.2,   9.8, CAL= 157.0,  10.6, ROT= 353.0, -10.6

2025-08-08T21:35:14.755Z,1754688914.755 [DAT](INFO): DAT read: Bearing 265.7, -10.7 (Local)

2025-08-08T21:35:14.757Z,1754688914.757 [DAT](INFO): Local bearing/azimuth received:
 Bearing 265.7, -10.7 (Local)

2025-08-08T21:35:14.761Z,1754688914.761 [DAT](INFO): DAT read: Range 11 to 50 : 58.0 m  (Round-trip  77.4 ms) speed  0.7 m/s

2025-08-08T21:35:14.761Z,1754688914.761 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-08T21:35:14.762Z,1754688914.762 [DAT](INFO): direction in FSK: [0.975609,-0.119790,0.183951]
2025-08-08T21:35:14.763Z,1754688914.763 [DAT](INFO): publishing direction and range info
2025-08-08T21:35:14.770Z,1754688914.770 [DAT](INFO): ****** received valid address query ******
2025-08-08T21:35:14.770Z,1754688914.770 [DAT](INFO): ****** received valid ping request ******
2025-08-08T21:35:14.770Z,1754688914.770 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-08T21:35:14.781Z,1754688914.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 60.599998 m,
      nav range: 57.132431 m,
      bearing: 95.909466 deg,
      approach rate: -0.698303 m/s,
      LOS rate: -0.108957 deg/s,
      cmd heading: 97.755874 deg,
      new cmd heading: 97.637029 deg.

2025-08-08T21:35:14.998Z,1754688914.998 [DAT](INFO): DAT read: user:1215>

2025-08-08T21:35:14.000Z,1754688915.000 [DAT](INFO): DAT read: Tx time:21:35:14.7529

2025-08-08T21:35:15.001Z,1754688915.001 [DAT](INFO): Ping request sent.
2025-08-08T21:35:15.001Z,1754688915.001 [DAT](INFO): transmitted an acoustic signal
2025-08-08T21:35:15.001Z,1754688915.001 [DAT](INFO): publishing transmit ping time
2025-08-08T21:35:15.002Z,1754688915.002 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001639
2025-08-08T21:35:15.134Z,1754688915.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 58.000000 m,
      deltaT: 3.783968 s,
      deltaX: -2.599998 m,
      approachRate: -0.687109 m/s,
      rangeRepo size: 4

2025-08-08T21:35:15.140Z,1754688915.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 58.000000 m,
      bearing: 94.330061 deg,
      lat: 36.906033 deg,
      lon: -122.115836 deg,
      deltaT: 3.783968 s,
      deltaX: -2.599998 m,
      approachRate: -0.687109 m/s,
      posRepo size: 4

2025-08-08T21:35:15.141Z,1754688915.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.00 m.
2025-08-08T21:35:15.142Z,1754688915.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.00 m.
2025-08-08T21:35:15.181Z,1754688915.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.000000 m,
      nav range: 57.059460 m,
      bearing: 94.330061 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.108957 deg/s,
      cmd heading: 97.637028 deg,
      new cmd heading: 97.503795 deg.

2025-08-08T21:35:15.215Z,1754688915.215 [DockingStepper](INFO): Changing to mode: 2
2025-08-08T21:35:15.250Z,1754688915.250 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.248713
2025-08-08T21:35:15.503Z,1754688915.503 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501970
2025-08-08T21:35:15.612Z,1754688915.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.00 m.
2025-08-08T21:35:15.613Z,1754688915.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.00 m.
2025-08-08T21:35:15.616Z,1754688915.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.000000 m,
      nav range: 56.730465 m,
      bearing: 94.265796 deg,
      approach rate: -0.687349 m/s,
      LOS rate: -0.135045 deg/s,
      cmd heading: 97.503792 deg,
      new cmd heading: 97.309878 deg.

2025-08-08T21:35:15.753Z,1754688915.753 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752122
2025-08-08T21:35:16.006Z,1754688916.006 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005224
2025-08-08T21:35:16.007Z,1754688916.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.00 m.
2025-08-08T21:35:16.007Z,1754688916.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.00 m.
2025-08-08T21:35:16.020Z,1754688916.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.000000 m,
      nav range: 56.482143 m,
      bearing: 94.217138 deg,
      approach rate: -0.642210 m/s,
      LOS rate: -0.126391 deg/s,
      cmd heading: 97.309876 deg,
      new cmd heading: 97.163263 deg.

2025-08-08T21:35:16.257Z,1754688916.257 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256443
2025-08-08T21:35:16.429Z,1754688916.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.00 m.
2025-08-08T21:35:16.430Z,1754688916.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.00 m.
2025-08-08T21:35:16.433Z,1754688916.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.000000 m,
      nav range: 56.187489 m,
      bearing: 94.162926 deg,
      approach rate: -0.684438 m/s,
      LOS rate: -0.126587 deg/s,
      cmd heading: 97.163266 deg,
      new cmd heading: 96.999777 deg.

2025-08-08T21:35:16.510Z,1754688916.510 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509199
2025-08-08T21:35:16.763Z,1754688916.763 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761932
2025-08-08T21:35:16.797Z,1754688916.797 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-08T21:35:16.799Z,1754688916.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.00 m.
2025-08-08T21:35:16.801Z,1754688916.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.00 m.
2025-08-08T21:35:16.804Z,1754688916.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.000000 m,
      nav range: 55.940163 m,
      bearing: 94.116973 deg,
      approach rate: -0.668109 m/s,
      LOS rate: -0.124683 deg/s,
      cmd heading: 96.999778 deg,
      new cmd heading: 96.861310 deg.

2025-08-08T21:35:17.015Z,1754688917.015 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013962
2025-08-08T21:35:17.255Z,1754688917.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.00 m.
2025-08-08T21:35:17.265Z,1754688917.265 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264108
2025-08-08T21:35:17.272Z,1754688917.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.00 m.
2025-08-08T21:35:17.275Z,1754688917.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.000000 m,
      nav range: 55.634880 m,
      bearing: 94.061290 deg,
      approach rate: -0.669957 m/s,
      LOS rate: -0.122870 deg/s,
      cmd heading: 96.861310 deg,
      new cmd heading: 96.693345 deg.

2025-08-08T21:35:17.519Z,1754688917.519 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517664
2025-08-08T21:35:17.769Z,1754688917.769 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768320
2025-08-08T21:35:17.842Z,1754688917.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.00 m.
2025-08-08T21:35:17.842Z,1754688917.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.00 m.
2025-08-08T21:35:17.847Z,1754688917.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.000000 m,
      nav range: 55.237755 m,
      bearing: 93.993219 deg,
      approach rate: -0.679260 m/s,
      LOS rate: -0.117270 deg/s,
      cmd heading: 96.693342 deg,
      new cmd heading: 96.487660 deg.

2025-08-08T21:35:18.022Z,1754688918.022 [DAT](INFO): DAT read: Rx Time:21:35:17.2311

2025-08-08T21:35:18.023Z,1754688918.023 [DAT](INFO): Rx dataTimestamp_ set to:1754688918.021928
2025-08-08T21:35:18.023Z,1754688918.023 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022703
2025-08-08T21:35:18.273Z,1754688918.273 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272132
2025-08-08T21:35:18.327Z,1754688918.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.00 m.
2025-08-08T21:35:18.327Z,1754688918.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.00 m.
2025-08-08T21:35:18.334Z,1754688918.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 58.000000 m,
      nav range: 54.903549 m,
      bearing: 93.935451 deg,
      approach rate: -0.686360 m/s,
      LOS rate: -0.119359 deg/s,
      cmd heading: 96.487658 deg,
      new cmd heading: 96.313301 deg.

2025-08-08T21:35:18.530Z,1754688918.530 [DAT](INFO): DAT read: 21:35:17.2310 LVL= 19792, 32401, 21234, 29795, AGC= 62, IDX= 402,-0.15,-2.975, 1.721,-2.548,-3.063, PHS= 0.190,-1.454, 0.471, RAW= 157.8,   8.8, CAL= 157.5,   9.3, ROT= 352.5,  -9.3

2025-08-08T21:35:18.531Z,1754688918.531 [DAT](INFO): got valid direction response:
 21:35:17.2310 LVL= 19792, 32401, 21234, 29795, AGC= 62, IDX= 402,-0.15,-2.975, 1.721,-2.548,-3.063, PHS= 0.190,-1.454, 0.471, RAW= 157.8,   8.8, CAL= 157.5,   9.3, ROT= 352.5,  -9.3

2025-08-08T21:35:18.535Z,1754688918.535 [DAT](INFO): DAT read: Bearing 264.2, -11.9 (Local)

2025-08-08T21:35:18.536Z,1754688918.536 [DAT](INFO): Local bearing/azimuth received:
 Bearing 264.2, -11.9 (Local)

2025-08-08T21:35:18.537Z,1754688918.537 [DAT](INFO): DAT read: Range 11 to 50 : 55.5 m  (Round-trip  74.0 ms) speed  0.6 m/s

2025-08-08T21:35:18.538Z,1754688918.538 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-08T21:35:18.539Z,1754688918.539 [DAT](INFO): direction in FSK: [0.978413,-0.128811,0.161604]
2025-08-08T21:35:18.539Z,1754688918.539 [DAT](INFO): publishing direction and range info
2025-08-08T21:35:18.572Z,1754688918.572 [DAT](INFO): ****** received valid address query ******
2025-08-08T21:35:18.572Z,1754688918.572 [DAT](INFO): ****** received valid ping request ******
2025-08-08T21:35:18.572Z,1754688918.572 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-08T21:35:18.777Z,1754688918.777 [DAT](INFO): DAT read: user:1216>

2025-08-08T21:35:18.778Z,1754688918.778 [DAT](INFO): DAT read: Tx time:21:35:18.5529

2025-08-08T21:35:18.778Z,1754688918.778 [DAT](INFO): Ping request sent.
2025-08-08T21:35:18.778Z,1754688918.778 [DAT](INFO): transmitted an acoustic signal
2025-08-08T21:35:18.778Z,1754688918.778 [DAT](INFO): publishing transmit ping time
2025-08-08T21:35:18.779Z,1754688918.779 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000733
2025-08-08T21:35:18.783Z,1754688918.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 55.500000 m,
      deltaT: 3.780030 s,
      deltaX: -2.500000 m,
      approachRate: -0.661370 m/s,
      rangeRepo size: 4

2025-08-08T21:35:18.785Z,1754688918.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 55.500000 m,
      bearing: 93.725790 deg,
      lat: 36.906035 deg,
      lon: -122.115835 deg,
      deltaT: 3.780030 s,
      deltaX: -2.500000 m,
      approachRate: -0.661370 m/s,
      posRepo size: 4

2025-08-08T21:35:18.786Z,1754688918.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.50 m.
2025-08-08T21:35:18.786Z,1754688918.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 55.50 m.
2025-08-08T21:35:18.791Z,1754688918.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 55.500000 m,
      nav range: 54.704670 m,
      bearing: 93.725790 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.119359 deg/s,
      cmd heading: 96.313303 deg,
      new cmd heading: 96.150289 deg.

2025-08-08T21:35:19.030Z,1754688919.030 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251912
2025-08-08T21:35:19.142Z,1754688919.142 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-08T21:35:19.145Z,1754688919.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.50 m.
2025-08-08T21:35:19.145Z,1754688919.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 55.50 m.
2025-08-08T21:35:19.148Z,1754688919.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 55.500000 m,
      nav range: 54.440643 m,
      bearing: 93.689472 deg,
      approach rate: -0.727855 m/s,
      LOS rate: -0.100607 deg/s,
      cmd heading: 96.150287 deg,
      new cmd heading: 96.040803 deg.

2025-08-08T21:35:19.281Z,1754688919.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502666
2025-08-08T21:35:19.533Z,1754688919.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754907
2025-08-08T21:35:19.590Z,1754688919.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.50 m.
2025-08-08T21:35:19.591Z,1754688919.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 55.50 m.
2025-08-08T21:35:19.599Z,1754688919.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 55.500000 m,
      nav range: 54.122623 m,
      bearing: 93.658371 deg,
      approach rate: -0.714048 m/s,
      LOS rate: -0.070241 deg/s,
      cmd heading: 96.040806 deg,
      new cmd heading: 95.946955 deg.

2025-08-08T21:35:19.785Z,1754688919.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006594
2025-08-08T21:35:19.955Z,1754688919.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.50 m.
2025-08-08T21:35:19.956Z,1754688919.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 55.50 m.
2025-08-08T21:35:19.959Z,1754688919.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 55.500000 m,
      nav range: 53.862198 m,
      bearing: 93.632628 deg,
      approach rate: -0.713247 m/s,
      LOS rate: -0.070844 deg/s,
      cmd heading: 95.946953 deg,
      new cmd heading: 95.869351 deg.

2025-08-08T21:35:20.037Z,1754688920.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258968
2025-08-08T21:35:20.289Z,1754688920.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510749
2025-08-08T21:35:20.351Z,1754688920.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.50 m.
2025-08-08T21:35:20.351Z,1754688920.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 55.50 m.
2025-08-08T21:35:20.379Z,1754688920.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 55.500000 m,
      nav range: 53.584179 m,
      bearing: 93.604714 deg,
      approach rate: -0.703329 m/s,
      LOS rate: -0.070982 deg/s,
      cmd heading: 95.869348 deg,
      new cmd heading: 95.785173 deg.

2025-08-08T21:35:20.541Z,1754688920.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762665
2025-08-08T21:35:20.786Z,1754688920.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.50 m.
2025-08-08T21:35:20.787Z,1754688920.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 55.50 m.
2025-08-08T21:35:20.790Z,1754688920.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 55.500000 m,
      nav range: 53.269409 m,
      bearing: 93.584731 deg,
      approach rate: -0.722736 m/s,
      LOS rate: -0.046155 deg/s,
      cmd heading: 95.785173 deg,
      new cmd heading: 95.724867 deg.

2025-08-08T21:35:20.793Z,1754688920.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014884
2025-08-08T21:35:21.045Z,1754688921.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266785
2025-08-08T21:35:21.151Z,1754688921.151 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-08T21:35:21.154Z,1754688921.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.50 m.
2025-08-08T21:35:21.154Z,1754688921.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 55.50 m.
2025-08-08T21:35:21.155Z,1754688921.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Final approach. Armed for intercept at range: 55.50 m.
2025-08-08T21:35:21.155Z,1754688921.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2025-08-08T21:35:21.158Z,1754688921.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 55.500000 m,
      nav range: 53.007092 m,
      bearing: 93.567691 deg,
      approach rate: -0.713421 m/s,
      LOS rate: -0.046572 deg/s,
      cmd heading: 95.724869 deg,
      new cmd heading: 95.673497 deg.

2025-08-08T21:35:21.297Z,1754688921.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518739
2025-08-08T21:35:21.549Z,1754688921.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770810
2025-08-08T21:35:21.615Z,1754688921.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.50 m.
2025-08-08T21:35:21.630Z,1754688921.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 55.500000 m,
      nav range: 52.701687 m,
      bearing: 93.555382 deg,
      approach rate: -0.662164 m/s,
      LOS rate: -0.026843 deg/s,
      cmd heading: 95.673499 deg,
      new cmd heading: 95.636357 deg.

2025-08-08T21:35:21.631Z,1754688921.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.669169 target range: 55.500000 and range: 55.50 m.
2025-08-08T21:35:21.801Z,1754688921.801 [DAT](INFO): DAT read: Rx Time:21:35:21.0275

2025-08-08T21:35:21.801Z,1754688921.801 [DAT](INFO): Rx dataTimestamp_ set to:1754688921.801057
2025-08-08T21:35:21.802Z,1754688921.802 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023819
2025-08-08T21:35:21.994Z,1754688921.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.50 m.
2025-08-08T21:35:21.999Z,1754688921.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 55.500000 m,
      nav range: 52.424030 m,
      bearing: 93.543978 deg,
      approach rate: -0.733648 m/s,
      LOS rate: -0.030291 deg/s,
      cmd heading: 95.636357 deg,
      new cmd heading: 95.601965 deg.

2025-08-08T21:35:22.022Z,1754688922.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.668569 target range: 55.500000 and range: 55.50 m.
2025-08-08T21:35:22.053Z,1754688922.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274873
2025-08-08T21:35:22.314Z,1754688922.314 [DAT](INFO): DAT read: 21:35:21.0275 LVL= 24784, 29969, 23842, 31907, AGC= 64, IDX= 397,-0.22, 1.470,-0.096, 1.983, 1.461, PHS= 0.111,-1.512, 0.478, RAW= 160.0,  10.1, CAL= 159.9,  10.9, ROT= 350.1, -10.9

2025-08-08T21:35:22.315Z,1754688922.315 [DAT](INFO): got valid direction response:
 21:35:21.0275 LVL= 24784, 29969, 23842, 31907, AGC= 64, IDX= 397,-0.22, 1.470,-0.096, 1.983, 1.461, PHS= 0.111,-1.512, 0.478, RAW= 160.0,  10.1, CAL= 159.9,  10.9, ROT= 350.1, -10.9

2025-08-08T21:35:22.315Z,1754688922.315 [DAT](INFO): DAT read: Bearing 265.0, -15.1 (Local)

2025-08-08T21:35:22.317Z,1754688922.317 [DAT](INFO): Local bearing/azimuth received:
 Bearing 265.0, -15.1 (Local)

2025-08-08T21:35:22.318Z,1754688922.318 [DAT](INFO): DAT read: Range 11 to 50 : 52.8 m  (Round-trip  70.4 ms) speed  0.4 m/s

2025-08-08T21:35:22.319Z,1754688922.319 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-08T21:35:22.321Z,1754688922.321 [DAT](INFO): direction in FSK: [0.967337,-0.168827,0.189095]
2025-08-08T21:35:22.321Z,1754688922.321 [DAT](INFO): publishing direction and range info
2025-08-08T21:35:22.324Z,1754688922.324 [DAT](INFO): ****** received valid address query ******
2025-08-08T21:35:22.324Z,1754688922.324 [DAT](INFO): ****** received valid ping request ******
2025-08-08T21:35:22.325Z,1754688922.325 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-08T21:35:22.557Z,1754688922.557 [DAT](INFO): DAT read: user:1217>

2025-08-08T21:35:22.558Z,1754688922.558 [DAT](INFO): DAT read: Tx time:21:35:22.3030

2025-08-08T21:35:22.558Z,1754688922.558 [DAT](INFO): Ping request sent.
2025-08-08T21:35:22.558Z,1754688922.558 [DAT](INFO): transmitted an acoustic signal
2025-08-08T21:35:22.558Z,1754688922.558 [DAT](INFO): publishing transmit ping time
2025-08-08T21:35:22.559Z,1754688922.559 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000755
2025-08-08T21:35:22.573Z,1754688922.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 52.799999 m,
      deltaT: 3.780558 s,
      deltaX: -2.700001 m,
      approachRate: -0.714180 m/s,
      rangeRepo size: 4

2025-08-08T21:35:22.575Z,1754688922.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 52.799999 m,
      bearing: 91.606389 deg,
      lat: 36.906050 deg,
      lon: -122.115831 deg,
      deltaT: 3.780558 s,
      deltaX: -2.700001 m,
      approachRate: -0.714180 m/s,
      posRepo size: 4

2025-08-08T21:35:22.576Z,1754688922.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.80 m.
2025-08-08T21:35:22.579Z,1754688922.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 52.799999 m,
      nav range: 52.267990 m,
      bearing: 91.606389 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.030291 deg/s,
      cmd heading: 95.601967 deg,
      new cmd heading: 95.549747 deg.

2025-08-08T21:35:22.588Z,1754688922.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.667658 target range: 52.799999 and range: 52.80 m.
2025-08-08T21:35:22.809Z,1754688922.809 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250959
2025-08-08T21:35:22.939Z,1754688922.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.80 m.
2025-08-08T21:35:22.942Z,1754688922.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 52.799999 m,
      nav range: 52.005512 m,
      bearing: 91.585828 deg,
      approach rate: -0.706764 m/s,
      LOS rate: -0.055644 deg/s,
      cmd heading: 95.549750 deg,
      new cmd heading: 95.487754 deg.

2025-08-08T21:35:22.943Z,1754688922.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.666576 target range: 52.799999 and range: 52.80 m.
2025-08-08T21:35:23.061Z,1754688923.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502784
2025-08-08T21:35:23.313Z,1754688923.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754810
2025-08-08T21:35:23.387Z,1754688923.387 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-08T21:35:23.389Z,1754688923.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.80 m.
2025-08-08T21:35:23.398Z,1754688923.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 52.799999 m,
      nav range: 51.700630 m,
      bearing: 91.561879 deg,
      approach rate: -0.678453 m/s,
      LOS rate: -0.053608 deg/s,
      cmd heading: 95.487752 deg,
      new cmd heading: 95.415481 deg.

2025-08-08T21:35:23.418Z,1754688923.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.665314 target range: 52.799999 and range: 52.80 m.
2025-08-08T21:35:23.569Z,1754688923.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.010402
2025-08-08T21:35:23.817Z,1754688923.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258826
2025-08-08T21:35:23.826Z,1754688923.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.80 m.
2025-08-08T21:35:23.834Z,1754688923.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 52.799999 m,
      nav range: 51.429691 m,
      bearing: 91.539671 deg,
      approach rate: -0.620100 m/s,
      LOS rate: -0.051096 deg/s,
      cmd heading: 95.415482 deg,
      new cmd heading: 95.348507 deg.

2025-08-08T21:35:23.842Z,1754688923.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.664145 target range: 52.799999 and range: 52.80 m.
2025-08-08T21:35:24.069Z,1754688924.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511368
2025-08-08T21:35:24.186Z,1754688924.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.80 m.
2025-08-08T21:35:24.189Z,1754688924.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 52.799999 m,
      nav range: 51.192249 m,
      bearing: 91.520309 deg,
      approach rate: -0.659567 m/s,
      LOS rate: -0.054032 deg/s,
      cmd heading: 95.348505 deg,
      new cmd heading: 95.290151 deg.

2025-08-08T21:35:24.190Z,1754688924.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.663127 target range: 52.799999 and range: 52.80 m.
2025-08-08T21:35:24.321Z,1754688924.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762663
2025-08-08T21:35:24.573Z,1754688924.573 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014661
2025-08-08T21:35:24.615Z,1754688924.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.80 m.
2025-08-08T21:35:24.618Z,1754688924.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 52.799999 m,
      nav range: 50.911957 m,
      bearing: 91.487550 deg,
      approach rate: -0.652486 m/s,
      LOS rate: -0.076679 deg/s,
      cmd heading: 95.290148 deg,
      new cmd heading: 95.191330 deg.

2025-08-08T21:35:24.619Z,1754688924.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.661402 target range: 52.799999 and range: 52.80 m.
2025-08-08T21:35:24.825Z,1754688924.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266804
2025-08-08T21:35:24.965Z,1754688924.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.80 m.
2025-08-08T21:35:24.985Z,1754688924.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 52.799999 m,
      nav range: 50.688568 m,
      bearing: 91.461535 deg,
      approach rate: -0.638542 m/s,
      LOS rate: -0.074689 deg/s,
      cmd heading: 95.191329 deg,
      new cmd heading: 95.112941 deg.

2025-08-08T21:35:24.987Z,1754688924.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.660034 target range: 52.799999 and range: 52.80 m.
2025-08-08T21:35:25.078Z,1754688925.078 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519340
2025-08-08T21:35:25.329Z,1754688925.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770726
2025-08-08T21:35:25.370Z,1754688925.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.80 m.
2025-08-08T21:35:25.377Z,1754688925.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 52.799999 m,
      nav range: 50.430340 m,
      bearing: 91.431461 deg,
      approach rate: -0.638140 m/s,
      LOS rate: -0.074702 deg/s,
      cmd heading: 95.112939 deg,
      new cmd heading: 95.022252 deg.

2025-08-08T21:35:25.378Z,1754688925.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.658451 target range: 52.799999 and range: 52.80 m.
2025-08-08T21:35:25.582Z,1754688925.582 [DAT](INFO): DAT read: Rx Time:21:35:24.7743

2025-08-08T21:35:25.583Z,1754688925.583 [DAT](INFO): Rx dataTimestamp_ set to:1754688925.582418
2025-08-08T21:35:25.583Z,1754688925.583 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025192
2025-08-08T21:35:25.801Z,1754688925.801 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-08T21:35:25.803Z,1754688925.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 52.80 m.
2025-08-08T21:35:25.806Z,1754688925.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 52.799999 m,
      nav range: 50.163151 m,
      bearing: 91.389835 deg,
      approach rate: -0.616241 m/s,
      LOS rate: -0.096516 deg/s,
      cmd heading: 95.022254 deg,
      new cmd heading: 94.896713 deg.

2025-08-08T21:35:25.807Z,1754688925.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.656260 target range: 52.799999 and range: 52.80 m.
2025-08-08T21:35:25.834Z,1754688925.834 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275600
2025-08-08T21:35:26.090Z,1754688926.090 [DAT](INFO): DAT read: 21:35:24.7743 LVL= 23360, 26257, 26674, 28403, AGC= 64, IDX= 412, 0.42, 2.663, 1.122,-3.125, 2.712, PHS= 0.053,-1.545, 0.402, RAW= 159.7,  12.1, CAL= 160.0,  13.6, ROT= 350.0, -13.6

2025-08-08T21:35:26.091Z,1754688926.091 [DAT](INFO): got valid direction response:
 21:35:24.7743 LVL= 23360, 26257, 26674, 28403, AGC= 64, IDX= 412, 0.42, 2.663, 1.122,-3.125, 2.712, PHS= 0.053,-1.545, 0.402, RAW= 159.7,  12.1, CAL= 160.0,  13.6, ROT= 350.0, -13.6

2025-08-08T21:35:26.092Z,1754688926.092 [DAT](INFO): DAT read: Bearing 267.4, -15.4 (Local)

2025-08-08T21:35:26.092Z,1754688926.092 [DAT](INFO): Local bearing/azimuth received:
 Bearing 267.4, -15.4 (Local)

2025-08-08T21:35:26.094Z,1754688926.094 [DAT](INFO): DAT read: Range 11 to 50 : 50.3 m  (Round-trip  67.1 ms) speed  0.6 m/s

2025-08-08T21:35:26.094Z,1754688926.094 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-08T21:35:26.095Z,1754688926.095 [DAT](INFO): direction in FSK: [0.957195,-0.168779,0.235142]
2025-08-08T21:35:26.095Z,1754688926.095 [DAT](INFO): publishing direction and range info
2025-08-08T21:35:26.099Z,1754688926.099 [DAT](INFO): ****** received valid address query ******
2025-08-08T21:35:26.099Z,1754688926.099 [DAT](INFO): ****** received valid ping request ******
2025-08-08T21:35:26.099Z,1754688926.099 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-08T21:35:26.285Z,1754688926.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 50.299999 m,
      deltaT: 3.779283 s,
      deltaX: -2.500000 m,
      approachRate: -0.661501 m/s,
      rangeRepo size: 4

2025-08-08T21:35:26.287Z,1754688926.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 50.299999 m,
      bearing: 90.687998 deg,
      lat: 36.906055 deg,
      lon: -122.115831 deg,
      deltaT: 3.779283 s,
      deltaX: -2.500000 m,
      approachRate: -0.661501 m/s,
      posRepo size: 4

2025-08-08T21:35:26.288Z,1754688926.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.30 m.
2025-08-08T21:35:26.291Z,1754688926.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 50.299999 m,
      nav range: 49.859055 m,
      bearing: 90.687998 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.096516 deg/s,
      cmd heading: 94.896715 deg,
      new cmd heading: 94.757362 deg.

2025-08-08T21:35:26.292Z,1754688926.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.653828 target range: 50.299999 and range: 50.30 m.
2025-08-08T21:35:26.337Z,1754688926.337 [DAT](INFO): DAT read: user:1218>

2025-08-08T21:35:26.338Z,1754688926.338 [DAT](INFO): DAT read: Tx time:21:35:26.1030

2025-08-08T21:35:26.338Z,1754688926.338 [DAT](INFO): Ping request sent.
2025-08-08T21:35:26.338Z,1754688926.338 [DAT](INFO): transmitted an acoustic signal
2025-08-08T21:35:26.338Z,1754688926.338 [DAT](INFO): publishing transmit ping time
2025-08-08T21:35:26.339Z,1754688926.339 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000748
2025-08-08T21:35:26.589Z,1754688926.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250589
2025-08-08T21:35:26.710Z,1754688926.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.30 m.
2025-08-08T21:35:26.713Z,1754688926.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 50.299999 m,
      nav range: 49.585831 m,
      bearing: 90.623726 deg,
      approach rate: -0.642293 m/s,
      LOS rate: -0.151923 deg/s,
      cmd heading: 94.757359 deg,
      new cmd heading: 94.563481 deg.

2025-08-08T21:35:26.714Z,1754688926.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.650444 target range: 50.299999 and range: 50.30 m.
2025-08-08T21:35:26.841Z,1754688926.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502630
2025-08-08T21:35:27.093Z,1754688927.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754754
2025-08-08T21:35:27.177Z,1754688927.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.30 m.
2025-08-08T21:35:27.180Z,1754688927.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 50.299999 m,
      nav range: 49.291893 m,
      bearing: 90.554085 deg,
      approach rate: -0.629134 m/s,
      LOS rate: -0.149947 deg/s,
      cmd heading: 94.563484 deg,
      new cmd heading: 94.353315 deg.

2025-08-08T21:35:27.181Z,1754688927.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.646776 target range: 50.299999 and range: 50.30 m.
2025-08-08T21:35:27.345Z,1754688927.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006581
2025-08-08T21:35:27.597Z,1754688927.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258840
2025-08-08T21:35:27.611Z,1754688927.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.30 m.
2025-08-08T21:35:27.614Z,1754688927.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 50.299999 m,
      nav range: 49.011864 m,
      bearing: 90.471023 deg,
      approach rate: -0.645177 m/s,
      LOS rate: -0.192465 deg/s,
      cmd heading: 94.353312 deg,
      new cmd heading: 94.102704 deg.

2025-08-08T21:35:27.615Z,1754688927.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.642402 target range: 50.299999 and range: 50.30 m.
2025-08-08T21:35:27.849Z,1754688927.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511198
2025-08-08T21:35:27.996Z,1754688927.996 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-08T21:35:28.000Z,1754688928.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.30 m.
2025-08-08T21:35:28.005Z,1754688928.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 50.299999 m,
      nav range: 48.768337 m,
      bearing: 90.398170 deg,
      approach rate: -0.627571 m/s,
      LOS rate: -0.188681 deg/s,
      cmd heading: 94.102706 deg,
      new cmd heading: 93.883056 deg.

2025-08-08T21:35:28.006Z,1754688928.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.638568 target range: 50.299999 and range: 50.30 m.
2025-08-08T21:35:28.102Z,1754688928.102 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763828
2025-08-08T21:35:28.353Z,1754688928.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014667
2025-08-08T21:35:28.388Z,1754688928.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.30 m.
2025-08-08T21:35:28.391Z,1754688928.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 50.299999 m,
      nav range: 48.515957 m,
      bearing: 90.322028 deg,
      approach rate: -0.650054 m/s,
      LOS rate: -0.197137 deg/s,
      cmd heading: 93.883054 deg,
      new cmd heading: 93.653443 deg.

2025-08-08T21:35:28.392Z,1754688928.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.634561 target range: 50.299999 and range: 50.30 m.
2025-08-08T21:35:28.605Z,1754688928.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266667
2025-08-08T21:35:28.819Z,1754688928.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.30 m.
2025-08-08T21:35:28.823Z,1754688928.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 50.299999 m,
      nav range: 48.231205 m,
      bearing: 90.230874 deg,
      approach rate: -0.659487 m/s,
      LOS rate: -0.212359 deg/s,
      cmd heading: 93.653443 deg,
      new cmd heading: 93.378370 deg.

2025-08-08T21:35:28.840Z,1754688928.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.629760 target range: 50.299999 and range: 50.30 m.
2025-08-08T21:35:28.858Z,1754688928.858 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519408
2025-08-08T21:35:29.109Z,1754688929.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771052
2025-08-08T21:35:29.334Z,1754688929.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.30 m.
2025-08-08T21:35:29.337Z,1754688929.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 50.299999 m,
      nav range: 47.892433 m,
      bearing: 90.121309 deg,
      approach rate: -0.658529 m/s,
      LOS rate: -0.214488 deg/s,
      cmd heading: 93.378371 deg,
      new cmd heading: 93.047353 deg.

2025-08-08T21:35:29.338Z,1754688929.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.623983 target range: 50.299999 and range: 50.30 m.
2025-08-08T21:35:29.361Z,1754688929.361 [DAT](INFO): DAT read: Rx Time:21:35:28.5708

2025-08-08T21:35:29.361Z,1754688929.361 [DAT](INFO): Rx dataTimestamp_ set to:1754688929.361087
2025-08-08T21:35:29.362Z,1754688929.362 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023728
2025-08-08T21:35:29.613Z,1754688929.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274529
2025-08-08T21:35:29.808Z,1754688929.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 50.30 m.
2025-08-08T21:35:29.811Z,1754688929.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 50.299999 m,
      nav range: 47.577297 m,
      bearing: 90.020052 deg,
      approach rate: -0.665101 m/s,
      LOS rate: -0.215119 deg/s,
      cmd heading: 93.047353 deg,
      new cmd heading: 92.741575 deg.

2025-08-08T21:35:29.812Z,1754688929.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.618646 target range: 50.299999 and range: 50.30 m.
2025-08-08T21:35:29.871Z,1754688929.871 [DAT](INFO): DAT read: 21:35:28.5708 LVL= 22832, 29297, 23778, 30419, AGC= 65, IDX= 410,-0.40, 1.314,-0.218, 1.844, 1.393, PHS= 0.023,-1.565, 0.408, RAW= 160.6,  12.5, CAL= 161.0,  14.2, ROT= 349.0, -14.2

2025-08-08T21:35:29.872Z,1754688929.872 [DAT](INFO): got valid direction response:
 21:35:28.5708 LVL= 22832, 29297, 23778, 30419, AGC= 65, IDX= 410,-0.40, 1.314,-0.218, 1.844, 1.393, PHS= 0.023,-1.565, 0.408, RAW= 160.6,  12.5, CAL= 161.0,  14.2, ROT= 349.0, -14.2

2025-08-08T21:35:29.873Z,1754688929.873 [DAT](INFO): DAT read: Bearing 267.9, -16.5 (Local)

2025-08-08T21:35:29.873Z,1754688929.873 [DAT](INFO): Local bearing/azimuth received:
 Bearing 267.9, -16.5 (Local)

2025-08-08T21:35:29.874Z,1754688929.874 [DAT](INFO): DAT read: Range 11 to 50 : 47.7 m  (Round-trip  63.7 ms) speed  0.9 m/s

2025-08-08T21:35:29.875Z,1754688929.875 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-08T21:35:29.876Z,1754688929.876 [DAT](INFO): direction in FSK: [0.951634,-0.184979,0.245307]
2025-08-08T21:35:29.877Z,1754688929.877 [DAT](INFO): publishing direction and range info
2025-08-08T21:35:29.880Z,1754688929.880 [DAT](INFO): ****** received valid address query ******
2025-08-08T21:35:29.881Z,1754688929.881 [DAT](INFO): ****** received valid ping request ******
2025-08-08T21:35:29.881Z,1754688929.881 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-08T21:35:30.120Z,1754688930.120 [DAT](INFO): DAT read: user:1219>

2025-08-08T21:35:30.121Z,1754688930.121 [DAT](INFO): DAT read: Tx time:21:35:29.8530

2025-08-08T21:35:30.121Z,1754688930.121 [DAT](INFO): Ping request sent.
2025-08-08T21:35:30.122Z,1754688930.122 [DAT](INFO): transmitted an acoustic signal
2025-08-08T21:35:30.122Z,1754688930.122 [DAT](INFO): publishing transmit ping time
2025-08-08T21:35:30.122Z,1754688930.122 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000757
2025-08-08T21:35:30.315Z,1754688930.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 47.700001 m,
      deltaT: 3.780606 s,
      deltaX: -2.599998 m,
      approachRate: -0.687720 m/s,
      rangeRepo size: 4

2025-08-08T21:35:30.321Z,1754688930.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 47.700001 m,
      bearing: 88.259860 deg,
      lat: 36.906068 deg,
      lon: -122.115831 deg,
      deltaT: 3.780606 s,
      deltaX: -2.599998 m,
      approachRate: -0.687720 m/s,
      posRepo size: 4

2025-08-08T21:35:30.322Z,1754688930.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.70 m.
2025-08-08T21:35:30.329Z,1754688930.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 47.700001 m,
      nav range: 47.286541 m,
      bearing: 88.259860 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.215119 deg/s,
      cmd heading: 92.741572 deg,
      new cmd heading: 92.414594 deg.

2025-08-08T21:35:30.330Z,1754688930.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.612939 target range: 47.700001 and range: 47.70 m.
2025-08-08T21:35:30.369Z,1754688930.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.247376
2025-08-08T21:35:30.621Z,1754688930.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.499226
2025-08-08T21:35:30.694Z,1754688930.694 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-08T21:35:30.697Z,1754688930.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.70 m.
2025-08-08T21:35:30.699Z,1754688930.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 47.700001 m,
      nav range: 47.016499 m,
      bearing: 88.168988 deg,
      approach rate: -0.707327 m/s,
      LOS rate: -0.239390 deg/s,
      cmd heading: 92.414597 deg,
      new cmd heading: 92.140417 deg.

2025-08-08T21:35:30.701Z,1754688930.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.608154 target range: 47.700001 and range: 47.70 m.
2025-08-08T21:35:30.873Z,1754688930.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.751308
2025-08-08T21:35:31.069Z,1754688931.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.70 m.
2025-08-08T21:35:31.072Z,1754688931.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 47.700001 m,
      nav range: 46.766273 m,
      bearing: 88.084142 deg,
      approach rate: -0.672932 m/s,
      LOS rate: -0.229400 deg/s,
      cmd heading: 92.140420 deg,
      new cmd heading: 91.884520 deg.

2025-08-08T21:35:31.073Z,1754688931.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.603687 target range: 47.700001 and range: 47.70 m.
2025-08-08T21:35:31.126Z,1754688931.126 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004184
2025-08-08T21:35:31.377Z,1754688931.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.255247
2025-08-08T21:35:31.462Z,1754688931.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.70 m.
2025-08-08T21:35:31.466Z,1754688931.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 47.700001 m,
      nav range: 46.491604 m,
      bearing: 87.990516 deg,
      approach rate: -0.697528 m/s,
      LOS rate: -0.239168 deg/s,
      cmd heading: 91.884520 deg,
      new cmd heading: 91.601986 deg.

2025-08-08T21:35:31.468Z,1754688931.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.598756 target range: 47.700001 and range: 47.70 m.
2025-08-08T21:35:31.629Z,1754688931.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.507290
2025-08-08T21:35:31.881Z,1754688931.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759278
2025-08-08T21:35:31.901Z,1754688931.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.70 m.
2025-08-08T21:35:31.904Z,1754688931.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 47.700001 m,
      nav range: 46.197903 m,
      bearing: 87.902464 deg,
      approach rate: -0.669902 m/s,
      LOS rate: -0.202114 deg/s,
      cmd heading: 91.601989 deg,
      new cmd heading: 91.336156 deg.

2025-08-08T21:35:31.905Z,1754688931.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.594117 target range: 47.700001 and range: 47.70 m.
2025-08-08T21:35:32.133Z,1754688932.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011246
2025-08-08T21:35:32.282Z,1754688932.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.70 m.
2025-08-08T21:35:32.285Z,1754688932.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 47.700001 m,
      nav range: 45.948826 m,
      bearing: 87.827624 deg,
      approach rate: -0.652040 m/s,
      LOS rate: -0.196980 deg/s,
      cmd heading: 91.336158 deg,
      new cmd heading: 91.110423 deg.

2025-08-08T21:35:32.286Z,1754688932.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.590177 target range: 47.700001 and range: 47.70 m.
2025-08-08T21:35:32.385Z,1754688932.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263500
2025-08-08T21:35:32.637Z,1754688932.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515159
2025-08-08T21:35:32.732Z,1754688932.732 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-08T21:35:32.734Z,1754688932.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.70 m.
2025-08-08T21:35:32.737Z,1754688932.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 47.700001 m,
      nav range: 45.642864 m,
      bearing: 87.752922 deg,
      approach rate: -0.677099 m/s,
      LOS rate: -0.166425 deg/s,
      cmd heading: 91.110421 deg,
      new cmd heading: 90.884813 deg.

2025-08-08T21:35:32.738Z,1754688932.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.586239 target range: 47.700001 and range: 47.70 m.
2025-08-08T21:35:32.890Z,1754688932.890 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768249
2025-08-08T21:35:33.114Z,1754688933.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.70 m.
2025-08-08T21:35:33.117Z,1754688933.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 47.700001 m,
      nav range: 45.392803 m,
      bearing: 87.693130 deg,
      approach rate: -0.657643 m/s,
      LOS rate: -0.158115 deg/s,
      cmd heading: 90.884813 deg,
      new cmd heading: 90.704449 deg.

2025-08-08T21:35:33.118Z,1754688933.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.583091 target range: 47.700001 and range: 47.70 m.
2025-08-08T21:35:33.141Z,1754688933.141 [DAT](INFO): DAT read: Rx Time:21:35:32.3177

2025-08-08T21:35:33.141Z,1754688933.141 [DAT](INFO): Rx dataTimestamp_ set to:1754688933.141162
2025-08-08T21:35:33.142Z,1754688933.142 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020437
2025-08-08T21:35:33.393Z,1754688933.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271246
2025-08-08T21:35:33.547Z,1754688933.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.70 m.
2025-08-08T21:35:33.570Z,1754688933.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 47.700001 m,
      nav range: 45.117241 m,
      bearing: 87.627695 deg,
      approach rate: -0.638254 m/s,
      LOS rate: -0.152486 deg/s,
      cmd heading: 90.704448 deg,
      new cmd heading: 90.506944 deg.

2025-08-08T21:35:33.584Z,1754688933.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.579644 target range: 47.700001 and range: 47.70 m.
2025-08-08T21:35:33.650Z,1754688933.650 [DAT](INFO): DAT read: 21:35:32.3177 LVL= 24688, 27233, 22146, 28915, AGC= 66, IDX= 409, 0.11,-0.333,-1.847, 0.178,-0.256, PHS= 0.026,-1.546, 0.390, RAW= 160.2,  12.6, CAL= 160.6,  14.4, ROT= 349.4, -14.4

2025-08-08T21:35:33.651Z,1754688933.651 [DAT](INFO): got valid direction response:
 21:35:32.3177 LVL= 24688, 27233, 22146, 28915, AGC= 66, IDX= 409, 0.11,-0.333,-1.847, 0.178,-0.256, PHS= 0.026,-1.546, 0.390, RAW= 160.2,  12.6, CAL= 160.6,  14.4, ROT= 349.4, -14.4

2025-08-08T21:35:33.652Z,1754688933.652 [DAT](INFO): DAT read: Bearing 267.2, -16.1 (Local)

2025-08-08T21:35:33.653Z,1754688933.653 [DAT](INFO): Local bearing/azimuth received:
 Bearing 267.2, -16.1 (Local)

2025-08-08T21:35:33.655Z,1754688933.655 [DAT](INFO): DAT read: Range 11 to 50 : 45.4 m  (Round-trip  60.6 ms) speed  0.5 m/s

2025-08-08T21:35:33.655Z,1754688933.655 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-08T21:35:33.657Z,1754688933.657 [DAT](INFO): direction in FSK: [0.952055,-0.178172,0.248690]
2025-08-08T21:35:33.657Z,1754688933.657 [DAT](INFO): publishing direction and range info
2025-08-08T21:35:33.670Z,1754688933.670 [DAT](INFO): ****** received valid address query ******
2025-08-08T21:35:33.670Z,1754688933.670 [DAT](INFO): ****** received valid ping request ******
2025-08-08T21:35:33.671Z,1754688933.671 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-08T21:35:33.897Z,1754688933.897 [DAT](INFO): DAT read: user:1220>

2025-08-08T21:35:33.898Z,1754688933.898 [DAT](INFO): DAT read: Tx time:21:35:33.6530

2025-08-08T21:35:33.898Z,1754688933.898 [DAT](INFO): Ping request sent.
2025-08-08T21:35:33.898Z,1754688933.898 [DAT](INFO): transmitted an acoustic signal
2025-08-08T21:35:33.898Z,1754688933.898 [DAT](INFO): publishing transmit ping time
2025-08-08T21:35:33.899Z,1754688933.899 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000746
2025-08-08T21:35:34.025Z,1754688934.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 45.400002 m,
      deltaT: 3.779640 s,
      deltaX: -2.299999 m,
      approachRate: -0.608523 m/s,
      rangeRepo size: 4

2025-08-08T21:35:34.027Z,1754688934.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 45.400002 m,
      bearing: 87.440562 deg,
      lat: 36.906068 deg,
      lon: -122.115835 deg,
      deltaT: 3.779640 s,
      deltaX: -2.299999 m,
      approachRate: -0.608523 m/s,
      posRepo size: 4

2025-08-08T21:35:34.027Z,1754688934.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.40 m.
2025-08-08T21:35:34.034Z,1754688934.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.400002 m,
      nav range: 44.426353 m,
      bearing: 87.440562 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.152486 deg/s,
      cmd heading: 90.506946 deg,
      new cmd heading: 90.290236 deg.

2025-08-08T21:35:34.035Z,1754688934.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.575862 target range: 45.400002 and range: 45.40 m.
2025-08-08T21:35:34.149Z,1754688934.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250925
2025-08-08T21:35:34.363Z,1754688934.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.40 m.
2025-08-08T21:35:34.366Z,1754688934.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.400002 m,
      nav range: 44.186092 m,
      bearing: 87.394937 deg,
      approach rate: -0.699970 m/s,
      LOS rate: -0.133645 deg/s,
      cmd heading: 90.290238 deg,
      new cmd heading: 90.152619 deg.

2025-08-08T21:35:34.367Z,1754688934.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.573460 target range: 45.400002 and range: 45.40 m.
2025-08-08T21:35:34.401Z,1754688934.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502876
2025-08-08T21:35:34.654Z,1754688934.654 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756195
2025-08-08T21:35:34.794Z,1754688934.794 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-08T21:35:34.796Z,1754688934.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.40 m.
2025-08-08T21:35:34.799Z,1754688934.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.400002 m,
      nav range: 43.908936 m,
      bearing: 87.354887 deg,
      approach rate: -0.640501 m/s,
      LOS rate: -0.093140 deg/s,
      cmd heading: 90.152616 deg,
      new cmd heading: 90.031706 deg.

2025-08-08T21:35:34.800Z,1754688934.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.571350 target range: 45.400002 and range: 45.40 m.
2025-08-08T21:35:34.905Z,1754688934.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006875
2025-08-08T21:35:35.157Z,1754688935.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258881
2025-08-08T21:35:35.206Z,1754688935.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.40 m.
2025-08-08T21:35:35.217Z,1754688935.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.400002 m,
      nav range: 43.654587 m,
      bearing: 87.319323 deg,
      approach rate: -0.619413 m/s,
      LOS rate: -0.087112 deg/s,
      cmd heading: 90.031708 deg,
      new cmd heading: 89.924396 deg.

2025-08-08T21:35:35.218Z,1754688935.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.569477 target range: 45.400002 and range: 45.40 m.
2025-08-08T21:35:35.409Z,1754688935.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510847
2025-08-08T21:35:35.642Z,1754688935.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.40 m.
2025-08-08T21:35:35.649Z,1754688935.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.400002 m,
      nav range: 43.406013 m,
      bearing: 87.285721 deg,
      approach rate: -0.570090 m/s,
      LOS rate: -0.077505 deg/s,
      cmd heading: 89.924399 deg,
      new cmd heading: 89.823017 deg.

2025-08-08T21:35:35.650Z,1754688935.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.567707 target range: 45.400002 and range: 45.40 m.
2025-08-08T21:35:35.661Z,1754688935.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762869
2025-08-08T21:35:35.913Z,1754688935.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014811
2025-08-08T21:35:36.159Z,1754688936.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.40 m.
2025-08-08T21:35:36.165Z,1754688936.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266924
2025-08-08T21:35:36.169Z,1754688936.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.400002 m,
      nav range: 43.037113 m,
      bearing: 87.246049 deg,
      approach rate: -0.714112 m/s,
      LOS rate: -0.077456 deg/s,
      cmd heading: 89.823019 deg,
      new cmd heading: 89.702980 deg.

2025-08-08T21:35:36.169Z,1754688936.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.565612 target range: 45.400002 and range: 45.40 m.
2025-08-08T21:35:36.418Z,1754688936.418 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520292
2025-08-08T21:35:36.663Z,1754688936.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.40 m.
2025-08-08T21:35:36.669Z,1754688936.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770929
2025-08-08T21:35:36.676Z,1754688936.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.400002 m,
      nav range: 42.752853 m,
      bearing: 87.215010 deg,
      approach rate: -0.565328 m/s,
      LOS rate: -0.062140 deg/s,
      cmd heading: 89.702978 deg,
      new cmd heading: 89.609242 deg.

2025-08-08T21:35:36.684Z,1754688936.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.563976 target range: 45.400002 and range: 45.40 m.
2025-08-08T21:35:36.922Z,1754688936.922 [DAT](INFO): DAT read: Rx Time:21:35:36.1145

2025-08-08T21:35:36.922Z,1754688936.922 [DAT](INFO): Rx dataTimestamp_ set to:1754688936.921731
2025-08-08T21:35:36.923Z,1754688936.923 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024885
2025-08-08T21:35:37.173Z,1754688937.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274842
2025-08-08T21:35:37.201Z,1754688937.201 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-08T21:35:37.203Z,1754688937.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.40 m.
2025-08-08T21:35:37.210Z,1754688937.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 45.400002 m,
      nav range: 42.368832 m,
      bearing: 87.168200 deg,
      approach rate: -0.709908 m/s,
      LOS rate: -0.087317 deg/s,
      cmd heading: 89.609241 deg,
      new cmd heading: 89.467539 deg.

2025-08-08T21:35:37.211Z,1754688937.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.561503 target range: 45.400002 and range: 45.40 m.
2025-08-08T21:35:37.432Z,1754688937.432 [DAT](INFO): DAT read: 21:35:36.1145 LVL= 21888, 27873, 21650, 27251, AGC= 63, IDX= 408,-0.01,-0.026,-1.642, 0.272,-0.020, PHS= 0.096,-1.576, 0.248, RAW= 154.3,  14.0, CAL= 154.7,  15.8, ROT= 355.3, -15.8

2025-08-08T21:35:37.434Z,1754688937.434 [DAT](INFO): got valid direction response:
 21:35:36.1145 LVL= 21888, 27873, 21650, 27251, AGC= 63, IDX= 408,-0.01,-0.026,-1.642, 0.272,-0.020, PHS= 0.096,-1.576, 0.248, RAW= 154.3,  14.0, CAL= 154.7,  15.8, ROT= 355.3, -15.8

2025-08-08T21:35:37.434Z,1754688937.434 [DAT](INFO): DAT read: Bearing 268.2, -10.0 (Local)

2025-08-08T21:35:37.435Z,1754688937.435 [DAT](INFO): Local bearing/azimuth received:
 Bearing 268.2, -10.0 (Local)

2025-08-08T21:35:37.437Z,1754688937.437 [DAT](INFO): DAT read: Range 11 to 50 : 43.0 m  (Round-trip  57.4 ms) speed  0.8 m/s

2025-08-08T21:35:37.438Z,1754688937.438 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-08T21:35:37.439Z,1754688937.439 [DAT](INFO): direction in FSK: [0.958982,-0.078843,0.272280]
2025-08-08T21:35:37.440Z,1754688937.440 [DAT](INFO): publishing direction and range info
2025-08-08T21:35:37.466Z,1754688937.466 [DAT](INFO): ****** received valid address query ******
2025-08-08T21:35:37.466Z,1754688937.466 [DAT](INFO): ****** received valid ping request ******
2025-08-08T21:35:37.466Z,1754688937.466 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-08T21:35:37.643Z,1754688937.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 43.000000 m,
      deltaT: 3.780447 s,
      deltaX: -2.400002 m,
      approachRate: -0.634846 m/s,
      rangeRepo size: 4

2025-08-08T21:35:37.669Z,1754688937.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 43.000000 m,
      bearing: 87.138150 deg,
      lat: 36.906068 deg,
      lon: -122.115835 deg,
      deltaT: 3.780447 s,
      deltaX: -2.400002 m,
      approachRate: -0.634846 m/s,
      posRepo size: 4

2025-08-08T21:35:37.669Z,1754688937.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.00 m.
2025-08-08T21:35:37.677Z,1754688937.677 [DAT](INFO): DAT read: user:1221>

2025-08-08T21:35:37.678Z,1754688937.678 [DAT](INFO): DAT read: Tx time:21:35:37.4530

2025-08-08T21:35:37.678Z,1754688937.678 [DAT](INFO): Ping request sent.
2025-08-08T21:35:37.678Z,1754688937.678 [DAT](INFO): transmitted an acoustic signal
2025-08-08T21:35:37.678Z,1754688937.678 [DAT](INFO): publishing transmit ping time
2025-08-08T21:35:37.679Z,1754688937.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.000000 m,
      nav range: 42.110134 m,
      bearing: 87.138150 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.087317 deg/s,
      cmd heading: 89.467541 deg,
      new cmd heading: 89.354479 deg.

2025-08-08T21:35:37.680Z,1754688937.680 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001621
2025-08-08T21:35:37.681Z,1754688937.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.559530 target range: 43.000000 and range: 43.00 m.
2025-08-08T21:35:37.929Z,1754688937.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250843
2025-08-08T21:35:38.012Z,1754688938.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.00 m.
2025-08-08T21:35:38.015Z,1754688938.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.000000 m,
      nav range: 41.830681 m,
      bearing: 87.100984 deg,
      approach rate: -0.739631 m/s,
      LOS rate: -0.099026 deg/s,
      cmd heading: 89.354481 deg,
      new cmd heading: 89.242237 deg.

2025-08-08T21:35:38.016Z,1754688938.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.557571 target range: 43.000000 and range: 43.00 m.
2025-08-08T21:35:38.181Z,1754688938.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502735
2025-08-08T21:35:38.348Z,1754688938.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.00 m.
2025-08-08T21:35:38.351Z,1754688938.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.000000 m,
      nav range: 41.615063 m,
      bearing: 87.073072 deg,
      approach rate: -0.642530 m/s,
      LOS rate: -0.083607 deg/s,
      cmd heading: 89.242234 deg,
      new cmd heading: 89.158064 deg.

2025-08-08T21:35:38.352Z,1754688938.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.556102 target range: 43.000000 and range: 43.00 m.
2025-08-08T21:35:38.434Z,1754688938.434 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755646
2025-08-08T21:35:38.688Z,1754688938.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.009079
2025-08-08T21:35:38.779Z,1754688938.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.00 m.
2025-08-08T21:35:38.787Z,1754688938.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.000000 m,
      nav range: 41.340343 m,
      bearing: 87.023575 deg,
      approach rate: -0.636856 m/s,
      LOS rate: -0.115507 deg/s,
      cmd heading: 89.158066 deg,
      new cmd heading: 89.008588 deg.

2025-08-08T21:35:38.788Z,1754688938.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.553493 target range: 43.000000 and range: 43.00 m.
2025-08-08T21:35:38.937Z,1754688938.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258961
2025-08-08T21:35:39.162Z,1754688939.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.00 m.
2025-08-08T21:35:39.165Z,1754688939.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.000000 m,
      nav range: 41.098301 m,
      bearing: 86.980462 deg,
      approach rate: -0.631943 m/s,
      LOS rate: -0.113224 deg/s,
      cmd heading: 89.008587 deg,
      new cmd heading: 88.878489 deg.

2025-08-08T21:35:39.166Z,1754688939.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.551222 target range: 43.000000 and range: 43.00 m.
2025-08-08T21:35:39.189Z,1754688939.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510941
2025-08-08T21:35:39.442Z,1754688939.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763441
2025-08-08T21:35:39.566Z,1754688939.566 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-08T21:35:39.569Z,1754688939.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.00 m.
2025-08-08T21:35:39.571Z,1754688939.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.000000 m,
      nav range: 40.836941 m,
      bearing: 86.934524 deg,
      approach rate: -0.643060 m/s,
      LOS rate: -0.113751 deg/s,
      cmd heading: 88.878485 deg,
      new cmd heading: 88.739790 deg.

2025-08-08T21:35:39.588Z,1754688939.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.548802 target range: 43.000000 and range: 43.00 m.
2025-08-08T21:35:39.696Z,1754688939.696 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016982
2025-08-08T21:35:39.945Z,1754688939.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266905
2025-08-08T21:35:40.016Z,1754688940.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.00 m.
2025-08-08T21:35:40.019Z,1754688940.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.000000 m,
      nav range: 40.546425 m,
      bearing: 86.871811 deg,
      approach rate: -0.648716 m/s,
      LOS rate: -0.141041 deg/s,
      cmd heading: 88.739792 deg,
      new cmd heading: 88.550304 deg.

2025-08-08T21:35:40.021Z,1754688940.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.545494 target range: 43.000000 and range: 43.00 m.
2025-08-08T21:35:40.197Z,1754688940.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518744
2025-08-08T21:35:40.376Z,1754688940.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.00 m.
2025-08-08T21:35:40.379Z,1754688940.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.000000 m,
      nav range: 40.313118 m,
      bearing: 86.821909 deg,
      approach rate: -0.648852 m/s,
      LOS rate: -0.139585 deg/s,
      cmd heading: 88.550302 deg,
      new cmd heading: 88.399731 deg.

2025-08-08T21:35:40.380Z,1754688940.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.542866 target range: 43.000000 and range: 43.00 m.
2025-08-08T21:35:40.451Z,1754688940.451 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772536
2025-08-08T21:35:40.704Z,1754688940.704 [DAT](INFO): DAT read: Rx Time:21:35:39.9110

2025-08-08T21:35:40.706Z,1754688940.706 [DAT](INFO): Rx dataTimestamp_ set to:1754688940.704606
2025-08-08T21:35:40.708Z,1754688940.708 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.029146
2025-08-08T21:35:40.869Z,1754688940.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.00 m.
2025-08-08T21:35:40.871Z,1754688940.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 43.000000 m,
      nav range: 40.003277 m,
      bearing: 86.730724 deg,
      approach rate: -0.628762 m/s,
      LOS rate: -0.186475 deg/s,
      cmd heading: 88.399730 deg,
      new cmd heading: 88.124059 deg.

2025-08-08T21:35:40.893Z,1754688940.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.538055 target range: 43.000000 and range: 43.00 m.
2025-08-08T21:35:40.955Z,1754688940.955 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276375
2025-08-08T21:35:41.210Z,1754688941.210 [DAT](INFO): DAT read: 21:35:39.9110 LVL= 25360, 30897, 23506, 30003, AGC= 62, IDX= 405,-0.26, 0.420,-1.313, 0.488, 0.291, PHS= 0.231,-1.559, 0.153, RAW= 147.8,  13.3, CAL= 147.7,  14.7, ROT=   2.3, -14.7

2025-08-08T21:35:41.211Z,1754688941.211 [DAT](INFO): got valid direction response:
 21:35:39.9110 LVL= 25360, 30897, 23506, 30003, AGC= 62, IDX= 405,-0.26, 0.420,-1.313, 0.488, 0.291, PHS= 0.231,-1.559, 0.153, RAW= 147.8,  13.3, CAL= 147.7,  14.7, ROT=   2.3, -14.7

2025-08-08T21:35:41.212Z,1754688941.212 [DAT](INFO): DAT read: Bearing 266.7,  -2.1 (Local)

2025-08-08T21:35:41.212Z,1754688941.212 [DAT](INFO): Local bearing/azimuth received:
 Bearing 266.7,  -2.1 (Local)

2025-08-08T21:35:41.214Z,1754688941.214 [DAT](INFO): DAT read: Range 11 to 50 : 40.4 m  (Round-trip  53.9 ms) speed  0.5 m/s

2025-08-08T21:35:41.214Z,1754688941.214 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-08T21:35:41.215Z,1754688941.215 [DAT](INFO): direction in FSK: [0.966489,0.038818,0.253758]
2025-08-08T21:35:41.216Z,1754688941.216 [DAT](INFO): publishing direction and range info
2025-08-08T21:35:41.223Z,1754688941.223 [DAT](INFO): ****** received valid address query ******
2025-08-08T21:35:41.223Z,1754688941.223 [DAT](INFO): ****** received valid ping request ******
2025-08-08T21:35:41.223Z,1754688941.223 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-08T21:35:41.340Z,1754688941.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 40.400002 m,
      deltaT: 3.779305 s,
      deltaX: -2.599998 m,
      approachRate: -0.687957 m/s,
      rangeRepo size: 4

2025-08-08T21:35:41.346Z,1754688941.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 40.400002 m,
      bearing: 86.756013 deg,
      lat: 36.906068 deg,
      lon: -122.115837 deg,
      deltaT: 3.779305 s,
      deltaX: -2.599998 m,
      approachRate: -0.687957 m/s,
      posRepo size: 4

2025-08-08T21:35:41.347Z,1754688941.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m.
2025-08-08T21:35:41.353Z,1754688941.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.400002 m,
      nav range: 39.611549 m,
      bearing: 86.756013 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.186475 deg/s,
      cmd heading: 88.124057 deg,
      new cmd heading: 87.861042 deg.

2025-08-08T21:35:41.354Z,1754688941.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.533464 target range: 40.400002 and range: 40.40 m.
2025-08-08T21:35:41.458Z,1754688941.458 [DAT](INFO): DAT read: user:1222>

2025-08-08T21:35:41.459Z,1754688941.459 [DAT](INFO): DAT read: Tx time:21:35:41.2030

2025-08-08T21:35:41.459Z,1754688941.459 [DAT](INFO): Ping request sent.
2025-08-08T21:35:41.460Z,1754688941.460 [DAT](INFO): transmitted an acoustic signal
2025-08-08T21:35:41.460Z,1754688941.460 [DAT](INFO): publishing transmit ping time
2025-08-08T21:35:41.462Z,1754688941.462 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002072
2025-08-08T21:35:41.712Z,1754688941.712 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251555
2025-08-08T21:35:41.838Z,1754688941.838 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-08T21:35:41.844Z,1754688941.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m.
2025-08-08T21:35:41.865Z,1754688941.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.400002 m,
      nav range: 39.294308 m,
      bearing: 86.649404 deg,
      approach rate: -0.628789 m/s,
      LOS rate: -0.213010 deg/s,
      cmd heading: 87.861040 deg,
      new cmd heading: 87.538635 deg.

2025-08-08T21:35:41.866Z,1754688941.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.527837 target range: 40.400002 and range: 40.40 m.
2025-08-08T21:35:41.962Z,1754688941.962 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502428
2025-08-08T21:35:42.202Z,1754688942.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m.
2025-08-08T21:35:42.205Z,1754688942.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.400002 m,
      nav range: 39.067669 m,
      bearing: 86.574224 deg,
      approach rate: -0.631809 m/s,
      LOS rate: -0.210798 deg/s,
      cmd heading: 87.538635 deg,
      new cmd heading: 87.311787 deg.

2025-08-08T21:35:42.206Z,1754688942.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.523878 target range: 40.400002 and range: 40.40 m.
2025-08-08T21:35:42.213Z,1754688942.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753496
2025-08-08T21:35:42.466Z,1754688942.466 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006050
2025-08-08T21:35:42.610Z,1754688942.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m.
2025-08-08T21:35:42.613Z,1754688942.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.400002 m,
      nav range: 38.821491 m,
      bearing: 86.492684 deg,
      approach rate: -0.603143 m/s,
      LOS rate: -0.201041 deg/s,
      cmd heading: 87.311790 deg,
      new cmd heading: 87.065623 deg.

2025-08-08T21:35:42.614Z,1754688942.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.519582 target range: 40.400002 and range: 40.40 m.
2025-08-08T21:35:42.720Z,1754688942.720 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260202
2025-08-08T21:35:42.970Z,1754688942.970 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510292
2025-08-08T21:35:43.051Z,1754688943.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m.
2025-08-08T21:35:43.054Z,1754688943.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.400002 m,
      nav range: 38.544891 m,
      bearing: 86.385831 deg,
      approach rate: -0.627894 m/s,
      LOS rate: -0.244303 deg/s,
      cmd heading: 87.065623 deg,
      new cmd heading: 86.742765 deg.

2025-08-08T21:35:43.055Z,1754688943.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.513947 target range: 40.400002 and range: 40.40 m.
2025-08-08T21:35:43.221Z,1754688943.221 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761244
2025-08-08T21:35:43.411Z,1754688943.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m.
2025-08-08T21:35:43.413Z,1754688943.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.400002 m,
      nav range: 38.323811 m,
      bearing: 86.301635 deg,
      approach rate: -0.614554 m/s,
      LOS rate: -0.235395 deg/s,
      cmd heading: 86.742767 deg,
      new cmd heading: 86.488725 deg.

2025-08-08T21:35:43.414Z,1754688943.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.509513 target range: 40.400002 and range: 40.40 m.
2025-08-08T21:35:43.474Z,1754688943.474 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014071
2025-08-08T21:35:43.728Z,1754688943.728 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267783
2025-08-08T21:35:43.869Z,1754688943.869 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-08T21:35:43.877Z,1754688943.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m.
2025-08-08T21:35:43.885Z,1754688943.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.400002 m,
      nav range: 38.046783 m,
      bearing: 86.201910 deg,
      approach rate: -0.594435 m/s,
      LOS rate: -0.215545 deg/s,
      cmd heading: 86.488725 deg,
      new cmd heading: 86.187374 deg.

2025-08-08T21:35:43.887Z,1754688943.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.504254 target range: 40.400002 and range: 40.40 m.
2025-08-08T21:35:43.977Z,1754688943.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517519
2025-08-08T21:35:44.229Z,1754688944.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769414
2025-08-08T21:35:44.257Z,1754688944.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m.
2025-08-08T21:35:44.260Z,1754688944.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.400002 m,
      nav range: 37.800438 m,
      bearing: 86.113288 deg,
      approach rate: -0.647462 m/s,
      LOS rate: -0.234439 deg/s,
      cmd heading: 86.187377 deg,
      new cmd heading: 85.919781 deg.

2025-08-08T21:35:44.261Z,1754688944.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.499583 target range: 40.400002 and range: 40.40 m.
2025-08-08T21:35:44.481Z,1754688944.481 [DAT](INFO): DAT read: Rx Time:21:35:43.6580

2025-08-08T21:35:44.482Z,1754688944.482 [DAT](INFO): Rx dataTimestamp_ set to:1754688944.481843
2025-08-08T21:35:44.483Z,1754688944.483 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023272
2025-08-08T21:35:44.637Z,1754688944.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.40 m.
2025-08-08T21:35:44.640Z,1754688944.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 40.400002 m,
      nav range: 37.555401 m,
      bearing: 86.025332 deg,
      approach rate: -0.646423 m/s,
      LOS rate: -0.233548 deg/s,
      cmd heading: 85.919784 deg,
      new cmd heading: 85.654196 deg.

2025-08-08T21:35:44.641Z,1754688944.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.494948 target range: 40.400002 and range: 40.40 m.
2025-08-08T21:35:44.736Z,1754688944.736 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275604
2025-08-08T21:35:44.990Z,1754688944.990 [DAT](INFO): DAT read: 21:35:43.6580 LVL= 26016, 29041, 24050, 32483, AGC= 62, IDX= 405, 0.30,-1.200,-2.974,-1.234,-1.413, PHS= 0.315,-1.517, 0.135, RAW= 144.9,  12.2, CAL= 144.5,  13.3, ROT=   5.5, -13.3

2025-08-08T21:35:44.991Z,1754688944.991 [DAT](INFO): got valid direction response:
 21:35:43.6580 LVL= 26016, 29041, 24050, 32483, AGC= 62, IDX= 405, 0.30,-1.200,-2.974,-1.234,-1.413, PHS= 0.315,-1.517, 0.135, RAW= 144.9,  12.2, CAL= 144.5,  13.3, ROT=   5.5, -13.3

2025-08-08T21:35:44.992Z,1754688944.992 [DAT](INFO): DAT read: Bearing 264.5,   2.4 (Local)

2025-08-08T21:35:44.993Z,1754688944.993 [DAT](INFO): Local bearing/azimuth received:
 Bearing 264.5,   2.4 (Local)

2025-08-08T21:35:44.994Z,1754688944.994 [DAT](INFO): DAT read: Range 11 to 50 : 38.1 m  (Round-trip  50.8 ms) speed  0.5 m/s

2025-08-08T21:35:44.995Z,1754688944.995 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-08T21:35:44.996Z,1754688944.996 [DAT](INFO): direction in FSK: [0.968699,0.093275,0.230050]
2025-08-08T21:35:44.996Z,1754688944.996 [DAT](INFO): publishing direction and range info
2025-08-08T21:35:44.999Z,1754688944.999 [DAT](INFO): ****** received valid address query ******
2025-08-08T21:35:44.999Z,1754688944.999 [DAT](INFO): ****** received valid ping request ******
2025-08-08T21:35:44.000Z,1754688945.000 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-08T21:35:45.150Z,1754688945.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 38.099998 m,
      deltaT: 3.780009 s,
      deltaX: -2.300003 m,
      approachRate: -0.608465 m/s,
      rangeRepo size: 4

2025-08-08T21:35:45.156Z,1754688945.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 38.099998 m,
      bearing: 90.378353 deg,
      lat: 36.906042 deg,
      lon: -122.115837 deg,
      deltaT: 3.780009 s,
      deltaX: -2.300003 m,
      approachRate: -0.608465 m/s,
      posRepo size: 4

2025-08-08T21:35:45.157Z,1754688945.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.10 m.
2025-08-08T21:35:45.162Z,1754688945.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 38.099998 m,
      nav range: 37.082161 m,
      bearing: 90.378353 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.233548 deg/s,
      cmd heading: 85.654199 deg,
      new cmd heading: 85.294948 deg.

2025-08-08T21:35:45.163Z,1754688945.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.488678 target range: 38.099998 and range: 38.10 m.
2025-08-08T21:35:45.238Z,1754688945.238 [DAT](INFO): DAT read: user:1223>

2025-08-08T21:35:45.238Z,1754688945.238 [DAT](INFO): DAT read: Tx time:21:35:45.0030

2025-08-08T21:35:45.239Z,1754688945.239 [DAT](INFO): Ping request sent.
2025-08-08T21:35:45.239Z,1754688945.239 [DAT](INFO): transmitted an acoustic signal
2025-08-08T21:35:45.239Z,1754688945.239 [DAT](INFO): publishing transmit ping time
2025-08-08T21:35:45.240Z,1754688945.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000750
2025-08-08T21:35:45.489Z,1754688945.489 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249973
2025-08-08T21:35:45.541Z,1754688945.541 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2025-08-08T21:35:45.541Z,1754688945.541 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2025-08-08T21:35:45.542Z,1754688945.542 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2025-08-08T21:35:45.543Z,1754688945.543 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with  120.000000 count pings at  38.099998 m (mode  2.000000 count ).
2025-08-08T21:35:45.543Z,1754688945.543 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2025-08-08T21:35:45.543Z,1754688945.543 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2025-08-08T21:35:45.546Z,1754688945.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.10 m.
2025-08-08T21:35:45.549Z,1754688945.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 38.099998 m,
      nav range: 36.826962 m,
      bearing: 90.318829 deg,
      approach rate: -0.643267 m/s,
      LOS rate: -0.151078 deg/s,
      cmd heading: 85.294945 deg,
      new cmd heading: 85.115137 deg.

2025-08-08T21:35:45.549Z,1754688945.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.485539 target range: 38.099998 and range: 38.10 m.
2025-08-08T21:35:45.744Z,1754688945.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504282
2025-08-08T21:35:45.939Z,1754688945.939 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2025-08-08T21:35:45.940Z,1754688945.940 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:C] Running Loop=1
2025-08-08T21:35:45.941Z,1754688945.941 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-08T21:35:45.947Z,1754688945.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.10 m.
2025-08-08T21:35:45.952Z,1754688945.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 38.099998 m,
      nav range: 36.560692 m,
      bearing: 90.270980 deg,
      approach rate: -0.665485 m/s,
      LOS rate: -0.120462 deg/s,
      cmd heading: 85.115140 deg,
      new cmd heading: 84.970545 deg.

2025-08-08T21:35:45.954Z,1754688945.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.483016 target range: 38.099998 and range: 38.10 m.
2025-08-08T21:35:45.994Z,1754688945.994 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754863
2025-08-08T21:35:46.245Z,1754688946.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005858
2025-08-08T21:35:46.431Z,1754688946.431 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:C] Stopped
2025-08-08T21:35:46.431Z,1754688946.431 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:D] Running Loop=1
2025-08-08T21:35:46.451Z,1754688946.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.10 m.
2025-08-08T21:35:46.461Z,1754688946.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 38.099998 m,
      nav range: 36.244057 m,
      bearing: 90.216146 deg,
      approach rate: -0.627239 m/s,
      LOS rate: -0.109572 deg/s,
      cmd heading: 84.970545 deg,
      new cmd heading: 84.804607 deg.

2025-08-08T21:35:46.463Z,1754688946.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.480120 target range: 38.099998 and range: 38.10 m.
2025-08-08T21:35:46.497Z,1754688946.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258369
2025-08-08T21:35:46.750Z,1754688946.750 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510259
2025-08-08T21:35:46.892Z,1754688946.892 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:D] Stopped
2025-08-08T21:35:46.893Z,1754688946.893 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2025-08-08T21:35:46.893Z,1754688946.893 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2025-08-08T21:35:46.893Z,1754688946.893 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2025-08-08T21:35:46.895Z,1754688946.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.10 m.
2025-08-08T21:35:46.898Z,1754688946.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 38.099998 m,
      nav range: 35.944122 m,
      bearing: 90.185000 deg,
      approach rate: -0.674871 m/s,
      LOS rate: -0.070665 deg/s,
      cmd heading: 84.804605 deg,
      new cmd heading: 84.710389 deg.

2025-08-08T21:35:46.899Z,1754688946.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.478475 target range: 38.099998 and range: 38.10 m.
2025-08-08T21:35:47.001Z,1754688947.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762043
2025-08-08T21:35:47.253Z,1754688947.253 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013901
2025-08-08T21:35:47.390Z,1754688947.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.10 m.
2025-08-08T21:35:47.393Z,1754688947.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 38.099998 m,
      nav range: 35.621159 m,
      bearing: 90.150875 deg,
      approach rate: -0.651934 m/s,
      LOS rate: -0.069508 deg/s,
      cmd heading: 84.710390 deg,
      new cmd heading: 84.607088 deg.

2025-08-08T21:35:47.394Z,1754688947.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.476672 target range: 38.099998 and range: 38.10 m.
2025-08-08T21:35:47.505Z,1754688947.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266122
2025-08-08T21:35:47.760Z,1754688947.760 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520179
2025-08-08T21:35:47.851Z,1754688947.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.10 m.
2025-08-08T21:35:47.859Z,1754688947.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 38.099998 m,
      nav range: 35.330444 m,
      bearing: 90.122379 deg,
      approach rate: -0.631797 m/s,
      LOS rate: -0.062438 deg/s,
      cmd heading: 84.607090 deg,
      new cmd heading: 84.520899 deg.

2025-08-08T21:35:47.865Z,1754688947.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.475168 target range: 38.099998 and range: 38.10 m.
2025-08-08T21:35:48.009Z,1754688948.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770002
2025-08-08T21:35:48.261Z,1754688948.261 [DAT](INFO): DAT read: Rx Time:21:35:47.4547

2025-08-08T21:35:48.261Z,1754688948.261 [DAT](INFO): Rx dataTimestamp_ set to:1754688948.260976
2025-08-08T21:35:48.262Z,1754688948.262 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022943
2025-08-08T21:35:48.316Z,1754688948.316 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-08T21:35:48.318Z,1754688948.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.10 m.
2025-08-08T21:35:48.325Z,1754688948.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 38.099998 m,
      nav range: 35.022877 m,
      bearing: 90.111552 deg,
      approach rate: -0.657996 m/s,
      LOS rate: -0.023366 deg/s,
      cmd heading: 84.520900 deg,
      new cmd heading: 84.488134 deg.

2025-08-08T21:35:48.326Z,1754688948.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.474596 target range: 38.099998 and range: 38.10 m.
2025-08-08T21:35:48.515Z,1754688948.515 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276306
2025-08-08T21:35:48.665Z,1754688948.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.10 m.
2025-08-08T21:35:48.667Z,1754688948.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 38.099998 m,
      nav range: 34.782036 m,
      bearing: 90.104096 deg,
      approach rate: -0.694572 m/s,
      LOS rate: -0.021654 deg/s,
      cmd heading: 84.488135 deg,
      new cmd heading: 84.465610 deg.

2025-08-08T21:35:48.697Z,1754688948.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.474203 target range: 38.099998 and range: 38.10 m.
2025-08-08T21:35:48.778Z,1754688948.778 [DAT](INFO): DAT read: 21:35:47.4547 LVL= 26064, 27425, 21554, 31139, AGC= 62, IDX= 404, 0.39,-1.923, 2.495,-2.042,-2.202, PHS= 0.382,-1.541, 0.116, RAW= 142.7,  11.6, CAL= 142.2,  12.6, ROT=   7.8, -12.6

2025-08-08T21:35:48.794Z,1754688948.794 [DAT](INFO): got valid direction response:
 21:35:47.4547 LVL= 26064, 27425, 21554, 31139, AGC= 62, IDX= 404, 0.39,-1.923, 2.495,-2.042,-2.202, PHS= 0.382,-1.541, 0.116, RAW= 142.7,  11.6, CAL= 142.2,  12.6, ROT=   7.8, -12.6

2025-08-08T21:35:48.821Z,1754688948.821 [DAT](INFO): DAT read: Bearing 262.7,   6.2 (Local)

2025-08-08T21:35:48.822Z,1754688948.822 [DAT](INFO): Local bearing/azimuth received:
 Bearing 262.7,   6.2 (Local)

2025-08-08T21:35:48.831Z,1754688948.831 [DAT](INFO): DAT read: Range 11 to 50 : 35.7 m  (Round-trip  47.6 ms) speed  0.5 m/s

2025-08-08T21:35:48.838Z,1754688948.838 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-08T21:35:48.845Z,1754688948.845 [DAT](INFO): direction in FSK: [0.966887,0.132447,0.218143]
2025-08-08T21:35:48.846Z,1754688948.846 [DAT](INFO): publishing direction and range info
2025-08-08T21:35:48.861Z,1754688948.861 [DAT](INFO): ****** received valid address query ******
2025-08-08T21:35:48.861Z,1754688948.861 [DAT](INFO): ****** received valid ping request ******
2025-08-08T21:35:48.862Z,1754688948.862 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-08T21:35:49.021Z,1754688949.021 [DAT](INFO): DAT read: user:1224>

2025-08-08T21:35:49.022Z,1754688949.022 [DAT](INFO): DAT read: Tx time:21:35:48.8530

2025-08-08T21:35:49.022Z,1754688949.022 [DAT](INFO): Ping request sent.
2025-08-08T21:35:49.022Z,1754688949.022 [DAT](INFO): transmitted an acoustic signal
2025-08-08T21:35:49.022Z,1754688949.022 [DAT](INFO): publishing transmit ping time
2025-08-08T21:35:49.023Z,1754688949.023 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000758
2025-08-08T21:35:49.130Z,1754688949.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 35.700001 m,
      deltaT: 3.785553 s,
      deltaX: -2.399998 m,
      approachRate: -0.633989 m/s,
      rangeRepo size: 4

2025-08-08T21:35:49.137Z,1754688949.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 35.700001 m,
      bearing: 95.941987 deg,
      lat: 36.906010 deg,
      lon: -122.115837 deg,
      deltaT: 3.785553 s,
      deltaX: -2.399998 m,
      approachRate: -0.633989 m/s,
      posRepo size: 4

2025-08-08T21:35:49.137Z,1754688949.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.70 m.
2025-08-08T21:35:49.144Z,1754688949.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 35.700001 m,
      nav range: 34.670116 m,
      bearing: 95.941987 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.021654 deg/s,
      cmd heading: 84.465610 deg,
      new cmd heading: 84.435394 deg.

2025-08-08T21:35:49.145Z,1754688949.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.473676 target range: 35.700001 and range: 35.70 m.
2025-08-08T21:35:49.275Z,1754688949.275 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253327
2025-08-08T21:35:49.483Z,1754688949.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.70 m.
2025-08-08T21:35:49.486Z,1754688949.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 35.700001 m,
      nav range: 34.422359 m,
      bearing: 95.993416 deg,
      approach rate: -0.700952 m/s,
      LOS rate: 0.146551 deg/s,
      cmd heading: 84.435393 deg,
      new cmd heading: 84.590791 deg.

2025-08-08T21:35:49.487Z,1754688949.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.476388 target range: 35.700001 and range: 35.70 m.
2025-08-08T21:35:49.525Z,1754688949.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503537
2025-08-08T21:35:49.777Z,1754688949.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754878
2025-08-08T21:35:50.012Z,1754688950.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.70 m.
2025-08-08T21:35:50.015Z,1754688950.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 35.700001 m,
      nav range: 34.089779 m,
      bearing: 96.082405 deg,
      approach rate: -0.633632 m/s,
      LOS rate: 0.171195 deg/s,
      cmd heading: 84.590793 deg,
      new cmd heading: 84.860362 deg.

2025-08-08T21:35:50.016Z,1754688950.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.481093 target range: 35.700001 and range: 35.70 m.
2025-08-08T21:35:50.029Z,1754688950.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006944
2025-08-08T21:35:50.281Z,1754688950.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258990
2025-08-08T21:35:50.294Z,1754688950.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.70 m.
2025-08-08T21:35:50.297Z,1754688950.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 35.700001 m,
      nav range: 33.887432 m,
      bearing: 96.138354 deg,
      approach rate: -0.707667 m/s,
      LOS rate: 0.196838 deg/s,
      cmd heading: 84.860360 deg,
      new cmd heading: 85.029209 deg.

2025-08-08T21:35:50.298Z,1754688950.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.484040 target range: 35.700001 and range: 35.70 m.
2025-08-08T21:35:50.533Z,1754688950.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510919
2025-08-08T21:35:50.695Z,1754688950.695 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-08T21:35:50.698Z,1754688950.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.70 m.
2025-08-08T21:35:50.701Z,1754688950.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 35.700001 m,
      nav range: 33.622047 m,
      bearing: 96.214289 deg,
      approach rate: -0.657514 m/s,
      LOS rate: 0.189621 deg/s,
      cmd heading: 85.029209 deg,
      new cmd heading: 85.258811 deg.

2025-08-08T21:35:50.702Z,1754688950.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.488047 target range: 35.700001 and range: 35.70 m.
2025-08-08T21:35:50.786Z,1754688950.786 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763617
2025-08-08T21:35:51.037Z,1754688951.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014873
2025-08-08T21:35:51.110Z,1754688951.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.70 m.
2025-08-08T21:35:51.125Z,1754688951.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 35.700001 m,
      nav range: 33.354820 m,
      bearing: 96.302699 deg,
      approach rate: -0.648257 m/s,
      LOS rate: 0.216189 deg/s,
      cmd heading: 85.258813 deg,
      new cmd heading: 85.526166 deg.

2025-08-08T21:35:51.126Z,1754688951.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.492713 target range: 35.700001 and range: 35.70 m.
2025-08-08T21:35:51.289Z,1754688951.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266934
2025-08-08T21:35:51.541Z,1754688951.541 [DAT](INFO): DAT read: Rx Time:21:35:51.0266 

2025-08-08T21:35:51.542Z,1754688951.542 [DAT](INFO): Rx dataTimestamp_ set to:1754688951.541679
2025-08-08T21:35:51.543Z,1754688951.543 [DAT](INFO): DAT read: Bearing 260.9,  11.6 (Local)

2025-08-08T21:35:51.544Z,1754688951.544 [DAT](INFO): Local bearing/azimuth received:
 Bearing 260.9,  11.6 (Local)

2025-08-08T21:35:51.546Z,1754688951.546 [DAT](INFO): DAT read: Range 11 to 50 :    33.3 m (trip time 22.2 ms) speed 0.6

2025-08-08T21:35:51.550Z,1754688951.550 [DAT](INFO): DAT read: 21:35:51.0266 LVL= 26816, 24817, 26674, 32755, AGC= 65, IDX= 148,-0.18,-2.379, 1.920,-2.648,-2.766, PHS= 0.489,-1.553, 0.074, RAW= 138.9,  10.6, CAL= 138.4,  11.6, ROT=  11.6, -11.6

2025-08-08T21:35:51.551Z,1754688951.551 [DAT](INFO): got valid direction response:
 21:35:51.0266 LVL= 26816, 24817, 26674, 32755, AGC= 65, IDX= 148,-0.18,-2.379, 1.920,-2.648,-2.766, PHS= 0.489,-1.553, 0.074, RAW= 138.9,  10.6, CAL= 138.4,  11.6, ROT=  11.6, -11.6

2025-08-08T21:35:51.552Z,1754688951.552 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-08T21:35:51.553Z,1754688951.553 [DAT](INFO): direction in FSK: [0.959568,0.196971,0.201078]
2025-08-08T21:35:51.553Z,1754688951.553 [DAT](INFO): publishing direction and range info
2025-08-08T21:35:51.577Z,1754688951.577 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.554722
2025-08-08T21:35:51.588Z,1754688951.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 33.299999 m,
      deltaT: 2.771898 s,
      deltaX: -2.400002 m,
      approachRate: -0.865833 m/s,
      rangeRepo size: 4

2025-08-08T21:35:51.590Z,1754688951.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 33.299999 m,
      bearing: 98.352613 deg,
      lat: 36.906000 deg,
      lon: -122.115838 deg,
      deltaT: 2.771898 s,
      deltaX: -2.400002 m,
      approachRate: -0.865833 m/s,
      posRepo size: 4

2025-08-08T21:35:51.591Z,1754688951.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.30 m.
2025-08-08T21:35:51.604Z,1754688951.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 33.299999 m,
      nav range: 33.186764 m,
      bearing: 98.352613 deg,
      approach rate: nan m/s,
      LOS rate: 0.216189 deg/s,
      cmd heading: 85.526167 deg,
      new cmd heading: 85.833007 deg.

2025-08-08T21:35:51.605Z,1754688951.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.498069 target range: 33.299999 and range: 33.30 m.
2025-08-08T21:35:51.794Z,1754688951.794 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.771014
2025-08-08T21:35:52.046Z,1754688952.046 [DAT](INFO): DAT read: Rx Time:21:35:51.5263 

2025-08-08T21:35:52.046Z,1754688952.046 [DAT](INFO): Rx dataTimestamp_ set to:1754688952.045729
2025-08-08T21:35:52.047Z,1754688952.047 [DAT](INFO): DAT read: Bearing 260.4,  12.0 (Local)

2025-08-08T21:35:52.048Z,1754688952.048 [DAT](INFO): Local bearing/azimuth received:
 Bearing 260.4,  12.0 (Local)

2025-08-08T21:35:52.050Z,1754688952.050 [DAT](INFO): DAT read: Range 11 to 50 :    32.9 m (trip time 21.9 ms) speed 0.9

2025-08-08T21:35:52.054Z,1754688952.054 [DAT](INFO): DAT read: 21:35:51.5263 LVL= 26736, 28081, 26354, 32755, AGC= 64, IDX= 497,-0.28, 3.006, 0.977, 2.720, 2.597, PHS= 0.511,-1.575, 0.079, RAW= 138.7,  10.3, CAL= 138.2,  11.3, ROT=  11.8, -11.3

2025-08-08T21:35:52.055Z,1754688952.055 [DAT](INFO): got valid direction response:
 21:35:51.5263 LVL= 26736, 28081, 26354, 32755, AGC= 64, IDX= 497,-0.28, 3.006, 0.977, 2.720, 2.597, PHS= 0.511,-1.575, 0.079, RAW= 138.7,  10.3, CAL= 138.2,  11.3, ROT=  11.8, -11.3

2025-08-08T21:35:52.060Z,1754688952.060 [DAT](INFO): #Rx 2: Read range and direction messages.
2025-08-08T21:35:52.061Z,1754688952.061 [DAT](INFO): direction in FSK: [0.959892,0.200532,0.195946]
2025-08-08T21:35:52.061Z,1754688952.061 [DAT](INFO): publishing direction and range info
2025-08-08T21:35:52.065Z,1754688952.065 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.042766
2025-08-08T21:35:52.089Z,1754688952.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 32.900002 m,
      deltaT: 0.504050 s,
      deltaX: -0.399998 m,
      approachRate: -0.793568 m/s,
      rangeRepo size: 4

2025-08-08T21:35:52.091Z,1754688952.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 32.900002 m,
      bearing: 98.636377 deg,
      lat: 36.905999 deg,
      lon: -122.115839 deg,
      deltaT: 0.504050 s,
      deltaX: -0.399998 m,
      approachRate: -0.793568 m/s,
      posRepo size: 4

2025-08-08T21:35:52.096Z,1754688952.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.90 m.
2025-08-08T21:35:52.099Z,1754688952.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 32.900002 m,
      nav range: 32.751949 m,
      bearing: 98.636377 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.216189 deg/s,
      cmd heading: 85.833007 deg,
      new cmd heading: 86.155245 deg.

2025-08-08T21:35:52.104Z,1754688952.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.503693 target range: 32.900002 and range: 32.90 m.
2025-08-08T21:35:52.300Z,1754688952.300 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.277668
2025-08-08T21:35:52.477Z,1754688952.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.90 m.
2025-08-08T21:35:52.484Z,1754688952.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 32.900002 m,
      nav range: 32.506840 m,
      bearing: 98.743617 deg,
      approach rate: -0.616507 m/s,
      LOS rate: 0.271766 deg/s,
      cmd heading: 86.155248 deg,
      new cmd heading: 86.479389 deg.

2025-08-08T21:35:52.485Z,1754688952.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.509350 target range: 32.900002 and range: 32.90 m.
2025-08-08T21:35:52.550Z,1754688952.550 [DAT](INFO): DAT read: Rx Time:21:35:52.0261 

2025-08-08T21:35:52.551Z,1754688952.551 [DAT](INFO): Rx dataTimestamp_ set to:1754688952.550369
2025-08-08T21:35:52.554Z,1754688952.554 [DAT](INFO): DAT read: Range 11 to 50 :    32.6 m (trip time 21.7 ms) speed 0.5

2025-08-08T21:35:52.555Z,1754688952.555 [DAT](ERROR): #Rx 3: Read range message, but no direction.
2025-08-08T21:35:52.556Z,1754688952.556 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.533697
2025-08-08T21:35:52.801Z,1754688952.801 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.779188
2025-08-08T21:35:52.945Z,1754688952.945 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-08T21:35:52.954Z,1754688952.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 32.599998 m,
      deltaT: 0.504640 s,
      deltaX: -0.300003 m,
      approachRate: -0.594489 m/s,
      rangeRepo size: 4

2025-08-08T21:35:52.960Z,1754688952.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.90 m.
2025-08-08T21:35:52.987Z,1754688952.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 32.900002 m,
      nav range: 32.254776 m,
      bearing: 98.856805 deg,
      approach rate: -0.530108 m/s,
      LOS rate: 0.239904 deg/s,
      cmd heading: 86.479388 deg,
      new cmd heading: 86.821603 deg.

2025-08-08T21:35:53.002Z,1754688953.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.515323 target range: 32.900002 and range: 32.60 m.
2025-08-08T21:35:53.053Z,1754688953.053 [DAT](INFO): DAT read: Rx Time:21:35:52.5258 

2025-08-08T21:35:53.054Z,1754688953.054 [DAT](INFO): Rx dataTimestamp_ set to:1754688953.053666
2025-08-08T21:35:53.055Z,1754688953.055 [DAT](INFO): DAT read: Bearing 259.2,  12.7 (Local)

2025-08-08T21:35:53.056Z,1754688953.056 [DAT](INFO): Local bearing/azimuth received:
 Bearing 259.2,  12.7 (Local)

2025-08-08T21:35:53.058Z,1754688953.058 [DAT](INFO): DAT read: Range 11 to 50 :    32.1 m (trip time 21.4 ms) speed 0.7

2025-08-08T21:35:53.063Z,1754688953.063 [DAT](INFO): DAT read: 21:35:52.5258 LVL= 24816, 29409, 27042, 32755, AGC= 63, IDX= 508, 0.33,-1.357, 2.853,-1.658,-1.806, PHS= 0.552,-1.579, 0.105, RAW= 138.5,   9.5, CAL= 138.1,  10.5, ROT=  11.9, -10.5

2025-08-08T21:35:53.064Z,1754688953.064 [DAT](INFO): got valid direction response:
 21:35:52.5258 LVL= 24816, 29409, 27042, 32755, AGC= 63, IDX= 508, 0.33,-1.357, 2.853,-1.658,-1.806, PHS= 0.552,-1.579, 0.105, RAW= 138.5,   9.5, CAL= 138.1,  10.5, ROT=  11.9, -10.5

2025-08-08T21:35:53.064Z,1754688953.064 [DAT](INFO): #Rx 4: Read range and direction messages.
2025-08-08T21:35:53.065Z,1754688953.065 [DAT](INFO): direction in FSK: [0.962124,0.202751,0.182236]
2025-08-08T21:35:53.065Z,1754688953.065 [DAT](INFO): publishing direction and range info
2025-08-08T21:35:53.069Z,1754688953.069 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=4.046833
2025-08-08T21:35:53.306Z,1754688953.306 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=4.283900
2025-08-08T21:35:53.445Z,1754688953.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 32.099998 m,
      deltaT: 0.503297 s,
      deltaX: -0.500000 m,
      approachRate: -0.993449 m/s,
      rangeRepo size: 4

2025-08-08T21:35:53.453Z,1754688953.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 32.099998 m,
      bearing: 99.856709 deg,
      lat: 36.905996 deg,
      lon: -122.115845 deg,
      deltaT: 1.007937 s,
      deltaX: -0.800003 m,
      approachRate: -0.793703 m/s,
      posRepo size: 4

2025-08-08T21:35:53.454Z,1754688953.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.10 m.
2025-08-08T21:35:53.479Z,1754688953.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 32.099998 m,
      nav range: 31.474699 m,
      bearing: 99.856709 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.239904 deg/s,
      cmd heading: 86.821601 deg,
      new cmd heading: 87.170831 deg.

2025-08-08T21:35:53.494Z,1754688953.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.521418 target range: 32.099998 and range: 32.10 m.
2025-08-08T21:35:53.558Z,1754688953.558 [DAT](INFO): DAT read: Rx Time:21:35:53.0256 

2025-08-08T21:35:53.558Z,1754688953.558 [DAT](INFO): Rx dataTimestamp_ set to:1754688953.557899
2025-08-08T21:35:53.559Z,1754688953.559 [DAT](INFO): DAT read: Bearing 259.3,  13.1 (Local)

2025-08-08T21:35:53.560Z,1754688953.560 [DAT](INFO): Local bearing/azimuth received:
 Bearing 259.3,  13.1 (Local)

2025-08-08T21:35:53.562Z,1754688953.562 [DAT](INFO): DAT read: Range 11 to 50 :    31.8 m (trip time 21.2 ms) speed 0.6

2025-08-08T21:35:53.568Z,1754688953.568 [DAT](INFO): DAT read: 21:35:53.0256 LVL= 25232, 24625, 27346, 32755, AGC= 63, IDX= 506, 0.18,-1.056,-3.107,-1.360,-1.499, PHS= 0.545,-1.564, 0.095, RAW= 138.3,   9.6, CAL= 137.9,  10.6, ROT=  12.1, -10.6

2025-08-08T21:35:53.569Z,1754688953.569 [DAT](INFO): got valid direction response:
 21:35:53.0256 LVL= 25232, 24625, 27346, 32755, AGC= 63, IDX= 506, 0.18,-1.056,-3.107,-1.360,-1.499, PHS= 0.545,-1.564, 0.095, RAW= 138.3,   9.6, CAL= 137.9,  10.6, ROT=  12.1, -10.6

2025-08-08T21:35:53.570Z,1754688953.570 [DAT](INFO): #Rx 5: Read range and direction messages.
2025-08-08T21:35:53.571Z,1754688953.571 [DAT](INFO): direction in FSK: [0.961098,0.206041,0.183951]
2025-08-08T21:35:53.589Z,1754688953.589 [DAT](INFO): publishing direction and range info
2025-08-08T21:35:53.609Z,1754688953.609 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.586838
2025-08-08T21:35:53.803Z,1754688953.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 31.799999 m,
      deltaT: 0.504233 s,
      deltaX: -0.299999 m,
      approachRate: -0.594962 m/s,
      rangeRepo size: 4

2025-08-08T21:35:53.809Z,1754688953.809 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.786997
2025-08-08T21:35:53.811Z,1754688953.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 31.799999 m,
      bearing: 99.986258 deg,
      lat: 36.905996 deg,
      lon: -122.115846 deg,
      deltaT: 0.504233 s,
      deltaX: -0.299999 m,
      approachRate: -0.594962 m/s,
      posRepo size: 4

2025-08-08T21:35:53.811Z,1754688953.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.80 m.
2025-08-08T21:35:53.818Z,1754688953.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 31.799999 m,
      nav range: 31.156372 m,
      bearing: 99.986258 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.239904 deg/s,
      cmd heading: 87.170829 deg,
      new cmd heading: 87.432905 deg.

2025-08-08T21:35:53.819Z,1754688953.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.525992 target range: 31.799999 and range: 31.80 m.
2025-08-08T21:35:54.062Z,1754688954.062 [DAT](INFO): DAT read: Rx Time:21:35:53.5253 

2025-08-08T21:35:54.062Z,1754688954.062 [DAT](INFO): Rx dataTimestamp_ set to:1754688954.061713
2025-08-08T21:35:54.063Z,1754688954.063 [DAT](INFO): DAT read: Bearing 258.6,  13.4 (Local)

2025-08-08T21:35:54.064Z,1754688954.064 [DAT](INFO): Local bearing/azimuth received:
 Bearing 258.6,  13.4 (Local)

2025-08-08T21:35:54.066Z,1754688954.066 [DAT](INFO): DAT read: Range 11 to 50 :    31.4 m (trip time 20.9 ms) speed 0.5

2025-08-08T21:35:54.071Z,1754688954.071 [DAT](INFO): DAT read: 21:35:53.5253 LVL= 27920, 31169, 30786, 32755, AGC= 61, IDX= 503, 0.05,-2.523, 1.723,-2.827,-2.981, PHS= 0.560,-1.534, 0.110, RAW= 138.2,   9.1, CAL= 137.9,  10.0, ROT=  12.1, -10.0

2025-08-08T21:35:54.072Z,1754688954.072 [DAT](INFO): got valid direction response:
 21:35:53.5253 LVL= 27920, 31169, 30786, 32755, AGC= 61, IDX= 503, 0.05,-2.523, 1.723,-2.827,-2.981, PHS= 0.560,-1.534, 0.110, RAW= 138.2,   9.1, CAL= 137.9,  10.0, ROT=  12.1, -10.0

2025-08-08T21:35:54.072Z,1754688954.072 [DAT](INFO): #Rx 6: Read range and direction messages.
2025-08-08T21:35:54.073Z,1754688954.073 [DAT](INFO): direction in FSK: [0.962929,0.206434,0.173648]
2025-08-08T21:35:54.073Z,1754688954.073 [DAT](INFO): publishing direction and range info
2025-08-08T21:35:54.077Z,1754688954.077 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=5.055235
2025-08-08T21:35:54.271Z,1754688954.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 31.400000 m,
      deltaT: 0.503814 s,
      deltaX: -0.400000 m,
      approachRate: -0.793943 m/s,
      rangeRepo size: 4

2025-08-08T21:35:54.274Z,1754688954.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 31.400000 m,
      bearing: 100.106572 deg,
      lat: 36.905996 deg,
      lon: -122.115846 deg,
      deltaT: 0.503814 s,
      deltaX: -0.400000 m,
      approachRate: -0.793943 m/s,
      posRepo size: 4

2025-08-08T21:35:54.274Z,1754688954.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.40 m.
2025-08-08T21:35:54.281Z,1754688954.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 31.400000 m,
      nav range: 30.838242 m,
      bearing: 100.106572 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.239904 deg/s,
      cmd heading: 87.432903 deg,
      new cmd heading: 87.770061 deg.

2025-08-08T21:35:54.282Z,1754688954.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.531877 target range: 31.400000 and range: 31.40 m.
2025-08-08T21:35:54.313Z,1754688954.313 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=5.290962
2025-08-08T21:35:54.565Z,1754688954.565 [DAT](INFO): DAT read: Rx Time:21:35:54.0252 

2025-08-08T21:35:54.566Z,1754688954.566 [DAT](INFO): Rx dataTimestamp_ set to:1754688954.565554
2025-08-08T21:35:54.567Z,1754688954.567 [DAT](INFO): DAT read: Bearing 259.3,  13.7 (Local)

2025-08-08T21:35:54.567Z,1754688954.567 [DAT](INFO): Local bearing/azimuth received:
 Bearing 259.3,  13.7 (Local)

2025-08-08T21:35:54.570Z,1754688954.570 [DAT](INFO): DAT read: Range 11 to 50 :    31.2 m (trip time 20.8 ms) speed 0.6

2025-08-08T21:35:54.574Z,1754688954.574 [DAT](INFO): DAT read: 21:35:54.0252 LVL= 27120, 29425, 27378, 30451, AGC= 62, IDX= 502,-0.02, 3.090, 1.028, 2.776, 2.646, PHS= 0.546,-1.573, 0.087, RAW= 138.1,   9.8, CAL= 137.7,  10.7, ROT=  12.3, -10.7

2025-08-08T21:35:54.575Z,1754688954.575 [DAT](INFO): got valid direction response:
 21:35:54.0252 LVL= 27120, 29425, 27378, 30451, AGC= 62, IDX= 502,-0.02, 3.090, 1.028, 2.776, 2.646, PHS= 0.546,-1.573, 0.087, RAW= 138.1,   9.8, CAL= 137.7,  10.7, ROT=  12.3, -10.7

2025-08-08T21:35:54.576Z,1754688954.576 [DAT](INFO): #Rx 7: Read range and direction messages.
2025-08-08T21:35:54.577Z,1754688954.577 [DAT](INFO): direction in FSK: [0.960057,0.209326,0.185667]
2025-08-08T21:35:54.577Z,1754688954.577 [DAT](INFO): publishing direction and range info
2025-08-08T21:35:54.580Z,1754688954.580 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.558536
2025-08-08T21:35:54.701Z,1754688954.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 31.200001 m,
      deltaT: 0.503841 s,
      deltaX: -0.199999 m,
      approachRate: -0.396948 m/s,
      rangeRepo size: 4

2025-08-08T21:35:54.703Z,1754688954.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 31.200001 m,
      bearing: 100.184922 deg,
      lat: 36.905996 deg,
      lon: -122.115846 deg,
      deltaT: 0.503841 s,
      deltaX: -0.199999 m,
      approachRate: -0.396948 m/s,
      posRepo size: 4

2025-08-08T21:35:54.703Z,1754688954.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.20 m.
2025-08-08T21:35:54.714Z,1754688954.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 31.200001 m,
      nav range: 30.589668 m,
      bearing: 100.184922 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.239904 deg/s,
      cmd heading: 87.770062 deg,
      new cmd heading: 88.078637 deg.

2025-08-08T21:35:54.715Z,1754688954.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.537262 target range: 31.200001 and range: 31.20 m.
2025-08-08T21:35:54.818Z,1754688954.818 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.795854
2025-08-08T21:35:55.070Z,1754688955.070 [DAT](INFO): DAT read: Rx Time:21:35:54.5250 

2025-08-08T21:35:55.070Z,1754688955.070 [DAT](INFO): Rx dataTimestamp_ set to:1754688955.069717
2025-08-08T21:35:55.071Z,1754688955.071 [DAT](INFO): DAT read: Bearing 259.2,  13.7 (Local)

2025-08-08T21:35:55.072Z,1754688955.072 [DAT](INFO): Local bearing/azimuth received:
 Bearing 259.2,  13.7 (Local)

2025-08-08T21:35:55.074Z,1754688955.074 [DAT](INFO): DAT read: Range 11 to 50 :    30.9 m (trip time 20.6 ms) speed 0.5

2025-08-08T21:35:55.078Z,1754688955.078 [DAT](INFO): DAT read: 21:35:54.5250 LVL= 26256, 29425, 23874, 32755, AGC= 61, IDX= 499,-0.10, 0.999,-1.038, 0.697, 0.562, PHS= 0.539,-1.554, 0.091, RAW= 138.3,   9.7, CAL= 137.9,  10.7, ROT=  12.1, -10.7

2025-08-08T21:35:55.079Z,1754688955.079 [DAT](INFO): got valid direction response:
 21:35:54.5250 LVL= 26256, 29425, 23874, 32755, AGC= 61, IDX= 499,-0.10, 0.999,-1.038, 0.697, 0.562, PHS= 0.539,-1.554, 0.091, RAW= 138.3,   9.7, CAL= 137.9,  10.7, ROT=  12.1, -10.7

2025-08-08T21:35:55.080Z,1754688955.080 [DAT](INFO): #Rx 8: Read range and direction messages.
2025-08-08T21:35:55.081Z,1754688955.081 [DAT](INFO): direction in FSK: [0.960782,0.205974,0.185667]
2025-08-08T21:35:55.081Z,1754688955.081 [DAT](INFO): publishing direction and range info
2025-08-08T21:35:55.085Z,1754688955.085 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=6.062687
2025-08-08T21:35:55.157Z,1754688955.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 30.900000 m,
      deltaT: 0.504163 s,
      deltaX: -0.300001 m,
      approachRate: -0.595048 m/s,
      rangeRepo size: 4

2025-08-08T21:35:55.159Z,1754688955.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 30.900000 m,
      bearing: 100.131074 deg,
      lat: 36.905996 deg,
      lon: -122.115846 deg,
      deltaT: 0.504163 s,
      deltaX: -0.300001 m,
      approachRate: -0.595048 m/s,
      posRepo size: 4

2025-08-08T21:35:55.159Z,1754688955.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.90 m.
2025-08-08T21:35:55.166Z,1754688955.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 30.900000 m,
      nav range: 30.311682 m,
      bearing: 100.131074 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.239904 deg/s,
      cmd heading: 88.078636 deg,
      new cmd heading: 88.404043 deg.

2025-08-08T21:35:55.167Z,1754688955.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.542942 target range: 30.900000 and range: 30.90 m.
2025-08-08T21:35:55.322Z,1754688955.322 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=6.299672
2025-08-08T21:35:55.573Z,1754688955.573 [DAT](INFO): DAT read: Rx Time:21:35:55.0249 

2025-08-08T21:35:55.574Z,1754688955.574 [DAT](INFO): Rx dataTimestamp_ set to:1754688955.573471
2025-08-08T21:35:55.575Z,1754688955.575 [DAT](INFO): DAT read: Bearing 259.1,  14.2 (Local)

2025-08-08T21:35:55.575Z,1754688955.575 [DAT](INFO): Local bearing/azimuth received:
 Bearing 259.1,  14.2 (Local)

2025-08-08T21:35:55.577Z,1754688955.577 [DAT](INFO): DAT read: Range 11 to 50 :    30.8 m (trip time 20.5 ms) speed 0.5

2025-08-08T21:35:55.582Z,1754688955.582 [DAT](INFO): DAT read: 21:35:55.0249 LVL= 22720, 26817, 23842, 32755, AGC= 61, IDX= 498,-0.15, 1.525,-0.482, 1.218, 1.086, PHS= 0.541,-1.523, 0.088, RAW= 138.0,   9.6, CAL= 137.6,  10.5, ROT=  12.4, -10.5

2025-08-08T21:35:55.583Z,1754688955.583 [DAT](INFO): got valid direction response:
 21:35:55.0249 LVL= 22720, 26817, 23842, 32755, AGC= 61, IDX= 498,-0.15, 1.525,-0.482, 1.218, 1.086, PHS= 0.541,-1.523, 0.088, RAW= 138.0,   9.6, CAL= 137.6,  10.5, ROT=  12.4, -10.5

2025-08-08T21:35:55.583Z,1754688955.583 [DAT](INFO): #Rx 9: Read range and direction messages.
2025-08-08T21:35:55.611Z,1754688955.611 [DAT](INFO): direction in FSK: [0.960318,0.211140,0.182236]
2025-08-08T21:35:55.611Z,1754688955.611 [DAT](INFO): publishing direction and range info
2025-08-08T21:35:55.614Z,1754688955.614 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.592289
2025-08-08T21:35:55.717Z,1754688955.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 30.799999 m,
      deltaT: 0.503754 s,
      deltaX: -0.100000 m,
      approachRate: -0.198510 m/s,
      rangeRepo size: 4

2025-08-08T21:35:55.719Z,1754688955.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 30.799999 m,
      bearing: 100.237232 deg,
      lat: 36.905996 deg,
      lon: -122.115846 deg,
      deltaT: 0.503754 s,
      deltaX: -0.100000 m,
      approachRate: -0.198510 m/s,
      posRepo size: 4

2025-08-08T21:35:55.736Z,1754688955.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.80 m.
2025-08-08T21:35:55.739Z,1754688955.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 30.799999 m,
      nav range: 29.930746 m,
      bearing: 100.237232 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.239904 deg/s,
      cmd heading: 88.404040 deg,
      new cmd heading: 88.810590 deg.

2025-08-08T21:35:55.740Z,1754688955.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.550037 target range: 30.799999 and range: 30.80 m.
2025-08-08T21:35:55.826Z,1754688955.826 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.803877
2025-08-08T21:35:56.077Z,1754688956.077 [DAT](INFO): DAT read: Rx Time:21:35:55.5246 

2025-08-08T21:35:56.078Z,1754688956.078 [DAT](INFO): Rx dataTimestamp_ set to:1754688956.077598
2025-08-08T21:35:56.079Z,1754688956.079 [DAT](INFO): DAT read: Bearing 259.0,  14.4 (Local)

2025-08-08T21:35:56.079Z,1754688956.079 [DAT](INFO): Local bearing/azimuth received:
 Bearing 259.0,  14.4 (Local)

2025-08-08T21:35:56.082Z,1754688956.082 [DAT](INFO): DAT read: Range 11 to 50 :    30.3 m (trip time 20.2 ms) speed 0.5

2025-08-08T21:35:56.086Z,1754688956.086 [DAT](INFO): DAT read: 21:35:55.5246 LVL= 21296, 26785, 21778, 32755, AGC= 60, IDX= 495,-0.12,-1.234, 3.059,-1.538,-1.674, PHS= 0.542,-1.505, 0.092, RAW= 137.9,   9.4, CAL= 137.6,  10.4, ROT=  12.4, -10.4

2025-08-08T21:35:56.087Z,1754688956.087 [DAT](INFO): got valid direction response:
 21:35:55.5246 LVL= 21296, 26785, 21778, 32755, AGC= 60, IDX= 495,-0.12,-1.234, 3.059,-1.538,-1.674, PHS= 0.542,-1.505, 0.092, RAW= 137.9,   9.4, CAL= 137.6,  10.4, ROT=  12.4, -10.4

2025-08-08T21:35:56.089Z,1754688956.089 [DAT](INFO): #Rx 10: Read range and direction messages.
2025-08-08T21:35:56.089Z,1754688956.089 [DAT](INFO): direction in FSK: [0.960627,0.211208,0.180519]
2025-08-08T21:35:56.090Z,1754688956.090 [DAT](INFO): publishing direction and range info
2025-08-08T21:35:56.093Z,1754688956.093 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=7.071272
2025-08-08T21:35:56.197Z,1754688956.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 30.299999 m,
      deltaT: 0.504127 s,
      deltaX: -0.500000 m,
      approachRate: -0.991814 m/s,
      rangeRepo size: 4

2025-08-08T21:35:56.199Z,1754688956.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 30.299999 m,
      bearing: 100.288441 deg,
      lat: 36.905996 deg,
      lon: -122.115847 deg,
      deltaT: 0.504127 s,
      deltaX: -0.500000 m,
      approachRate: -0.991814 m/s,
      posRepo size: 4

2025-08-08T21:35:56.204Z,1754688956.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.30 m.
2025-08-08T21:35:56.207Z,1754688956.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 30.299999 m,
      nav range: 29.610598 m,
      bearing: 100.288441 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.239904 deg/s,
      cmd heading: 88.810593 deg,
      new cmd heading: 89.147102 deg.

2025-08-08T21:35:56.212Z,1754688956.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.555910 target range: 30.299999 and range: 30.30 m.
2025-08-08T21:35:56.329Z,1754688956.329 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=7.307136
2025-08-08T21:35:56.581Z,1754688956.581 [DAT](INFO): DAT read: Rx Time:21:35:56.0245 

2025-08-08T21:35:56.582Z,1754688956.582 [DAT](INFO): Rx dataTimestamp_ set to:1754688956.581570
2025-08-08T21:35:56.583Z,1754688956.583 [DAT](INFO): DAT read: Bearing 258.7,  14.1 (Local)

2025-08-08T21:35:56.583Z,1754688956.583 [DAT](INFO): Local bearing/azimuth received:
 Bearing 258.7,  14.1 (Local)

2025-08-08T21:35:56.586Z,1754688956.586 [DAT](INFO): DAT read: Range 11 to 50 :    30.2 m (trip time 20.1 ms) speed 0.5

2025-08-08T21:35:56.590Z,1754688956.590 [DAT](INFO): DAT read: 21:35:56.0245 LVL= 21440, 28193, 21298, 32755, AGC= 59, IDX= 510,-0.14, 0.008,-1.998,-0.283,-0.437, PHS= 0.547,-1.516, 0.111, RAW= 138.4,   9.1, CAL= 138.0,  10.1, ROT=  12.0, -10.1

2025-08-08T21:35:56.591Z,1754688956.591 [DAT](INFO): got valid direction response:
 21:35:56.0245 LVL= 21440, 28193, 21298, 32755, AGC= 59, IDX= 510,-0.14, 0.008,-1.998,-0.283,-0.437, PHS= 0.547,-1.516, 0.111, RAW= 138.4,   9.1, CAL= 138.0,  10.1, ROT=  12.0, -10.1

2025-08-08T21:35:56.591Z,1754688956.591 [DAT](INFO): #Rx 11: Read range and direction messages.
2025-08-08T21:35:56.593Z,1754688956.593 [DAT](INFO): direction in FSK: [0.962989,0.204690,0.175367]
2025-08-08T21:35:56.593Z,1754688956.593 [DAT](INFO): publishing direction and range info
2025-08-08T21:35:56.600Z,1754688956.600 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=7.577645
2025-08-08T21:35:56.711Z,1754688956.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 30.200001 m,
      deltaT: 0.503972 s,
      deltaX: -0.099998 m,
      approachRate: -0.198421 m/s,
      rangeRepo size: 4

2025-08-08T21:35:56.718Z,1754688956.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 30.200001 m,
      bearing: 100.361129 deg,
      lat: 36.905996 deg,
      lon: -122.115847 deg,
      deltaT: 0.503972 s,
      deltaX: -0.099998 m,
      approachRate: -0.198421 m/s,
      posRepo size: 4

2025-08-08T21:35:56.718Z,1754688956.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.20 m.
2025-08-08T21:35:56.725Z,1754688956.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 30.200001 m,
      nav range: 29.267729 m,
      bearing: 100.361129 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.239904 deg/s,
      cmd heading: 89.147103 deg,
      new cmd heading: 89.525966 deg.

2025-08-08T21:35:56.726Z,1754688956.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.562523 target range: 30.200001 and range: 30.20 m.
2025-08-08T21:35:56.834Z,1754688956.834 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=7.811666
2025-08-08T21:35:57.086Z,1754688957.086 [DAT](INFO): DAT read: Rx Time:21:35:56.5242 

2025-08-08T21:35:57.086Z,1754688957.086 [DAT](INFO): Rx dataTimestamp_ set to:1754688957.085930
2025-08-08T21:35:57.087Z,1754688957.087 [DAT](INFO): DAT read: Bearing 259.3,  14.3 (Local)

2025-08-08T21:35:57.088Z,1754688957.088 [DAT](INFO): Local bearing/azimuth received:
 Bearing 259.3,  14.3 (Local)

2025-08-08T21:35:57.091Z,1754688957.091 [DAT](INFO): DAT read: Range 11 to 50 :    29.7 m (trip time 19.8 ms) speed 0.5

2025-08-08T21:35:57.095Z,1754688957.095 [DAT](INFO): DAT read: 21:35:56.5242 LVL= 26832, 27953, 25186, 32755, AGC= 60, IDX= 507,-0.14,-1.364, 2.886,-1.659,-1.802, PHS= 0.541,-1.550, 0.099, RAW= 138.5,   9.6, CAL= 138.0,  10.5, ROT=  12.0, -10.5

2025-08-08T21:35:57.097Z,1754688957.097 [DAT](INFO): got valid direction response:
 21:35:56.5242 LVL= 26832, 27953, 25186, 32755, AGC= 60, IDX= 507,-0.14,-1.364, 2.886,-1.659,-1.802, PHS= 0.541,-1.550, 0.099, RAW= 138.5,   9.6, CAL= 138.0,  10.5, ROT=  12.0, -10.5

2025-08-08T21:35:57.097Z,1754688957.097 [DAT](INFO): #Rx 12: Read range and direction messages.
2025-08-08T21:35:57.098Z,1754688957.098 [DAT](INFO): direction in FSK: [0.961768,0.204430,0.182236]
2025-08-08T21:35:57.098Z,1754688957.098 [DAT](INFO): publishing direction and range info
2025-08-08T21:35:57.102Z,1754688957.102 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=8.080039
2025-08-08T21:35:57.174Z,1754688957.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 29.700001 m,
      deltaT: 0.504360 s,
      deltaX: -0.500000 m,
      approachRate: -0.991355 m/s,
      rangeRepo size: 4

2025-08-08T21:35:57.180Z,1754688957.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 29.700001 m,
      bearing: 100.192023 deg,
      lat: 36.905997 deg,
      lon: -122.115847 deg,
      deltaT: 0.504360 s,
      deltaX: -0.500000 m,
      approachRate: -0.991355 m/s,
      posRepo size: 4

2025-08-08T21:35:57.181Z,1754688957.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.70 m.
2025-08-08T21:35:57.196Z,1754688957.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 29.700001 m,
      nav range: 28.970625 m,
      bearing: 100.192023 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.239904 deg/s,
      cmd heading: 89.525967 deg,
      new cmd heading: 89.858982 deg.

2025-08-08T21:35:57.197Z,1754688957.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.568335 target range: 29.700001 and range: 29.70 m.
2025-08-08T21:35:57.337Z,1754688957.337 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=8.315106
2025-08-08T21:35:57.550Z,1754688957.550 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-08T21:35:57.553Z,1754688957.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.70 m.
2025-08-08T21:35:57.555Z,1754688957.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 29.700001 m,
      nav range: 28.702503 m,
      bearing: 100.214604 deg,
      approach rate: -0.707951 m/s,
      LOS rate: 0.060180 deg/s,
      cmd heading: 89.858980 deg,
      new cmd heading: 89.927355 deg.

2025-08-08T21:35:57.557Z,1754688957.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.569528 target range: 29.700001 and range: 29.70 m.
2025-08-08T21:35:57.590Z,1754688957.590 [DAT](INFO): DAT read: Rx Time:21:35:57.0240 

2025-08-08T21:35:57.591Z,1754688957.591 [DAT](INFO): Rx dataTimestamp_ set to:1754688957.590228
2025-08-08T21:35:57.593Z,1754688957.593 [DAT](INFO): DAT read: Bearing 259.3,  14.3 (Local)

2025-08-08T21:35:57.593Z,1754688957.593 [DAT](INFO): Local bearing/azimuth received:
 Bearing 259.3,  14.3 (Local)

2025-08-08T21:35:57.596Z,1754688957.596 [DAT](INFO): DAT read: Range 11 to 50 :    29.4 m (trip time 19.6 ms) speed 0.5

2025-08-08T21:35:57.606Z,1754688957.606 [DAT](INFO): DAT read: 21:35:57.0240 LVL= 22928, 26689, 24338, 32755, AGC= 59, IDX= 505,-0.08,-1.759, 2.505,-2.045,-2.197, PHS= 0.540,-1.536, 0.108, RAW= 138.6,   9.4, CAL= 138.2,  10.3, ROT=  11.8, -10.3

2025-08-08T21:35:57.611Z,1754688957.611 [DAT](INFO): got valid direction response:
 21:35:57.0240 LVL= 22928, 26689, 24338, 32755, AGC= 59, IDX= 505,-0.08,-1.759, 2.505,-2.045,-2.197, PHS= 0.540,-1.536, 0.108, RAW= 138.6,   9.4, CAL= 138.2,  10.3, ROT=  11.8, -10.3

2025-08-08T21:35:57.611Z,1754688957.611 [DAT](INFO): #Rx 13: Read range and direction messages.
2025-08-08T21:35:57.626Z,1754688957.626 [DAT](INFO): direction in FSK: [0.963093,0.201201,0.178802]
2025-08-08T21:35:57.626Z,1754688957.626 [DAT](INFO): publishing direction and range info
2025-08-08T21:35:57.632Z,1754688957.632 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=8.609554
2025-08-08T21:35:57.842Z,1754688957.842 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=8.819595
2025-08-08T21:35:58.073Z,1754688958.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 29.400000 m,
      deltaT: 0.504298 s,
      deltaX: -0.300001 m,
      approachRate: -0.594889 m/s,
      rangeRepo size: 4

2025-08-08T21:35:58.076Z,1754688958.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 29.400000 m,
      bearing: 100.362942 deg,
      lat: 36.905996 deg,
      lon: -122.115844 deg,
      deltaT: 0.504298 s,
      deltaX: -0.300001 m,
      approachRate: -0.594889 m/s,
      posRepo size: 4

2025-08-08T21:35:58.076Z,1754688958.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.40 m.
2025-08-08T21:35:58.079Z,1754688958.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 29.400000 m,
      nav range: 28.577887 m,
      bearing: 100.362942 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.060180 deg/s,
      cmd heading: 89.927357 deg,
      new cmd heading: 90.021376 deg.

2025-08-08T21:35:58.080Z,1754688958.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.571169 target range: 29.400000 and range: 29.40 m.
2025-08-08T21:35:58.093Z,1754688958.093 [DAT](INFO): DAT read: Rx Time:21:35:57.5237 

2025-08-08T21:35:58.094Z,1754688958.094 [DAT](INFO): Rx dataTimestamp_ set to:1754688958.093539
2025-08-08T21:35:58.095Z,1754688958.095 [DAT](INFO): DAT read: Bearing 259.8,  14.3 (Local)

2025-08-08T21:35:58.095Z,1754688958.095 [DAT](INFO): Local bearing/azimuth received:
 Bearing 259.8,  14.3 (Local)

2025-08-08T21:35:58.098Z,1754688958.098 [DAT](INFO): DAT read: Range 11 to 50 :    29.0 m (trip time 19.3 ms) speed 0.5

2025-08-08T21:35:58.103Z,1754688958.103 [DAT](INFO): DAT read: 21:35:57.5237 LVL= 28528, 32353, 31026, 32755, AGC= 60, IDX= 502,-0.05,-3.105, 1.160, 2.901, 2.753, PHS= 0.528,-1.548, 0.104, RAW= 138.9,   9.7, CAL= 138.4,  10.6, ROT=  11.6, -10.6

2025-08-08T21:35:58.104Z,1754688958.104 [DAT](INFO): got valid direction response:
 21:35:57.5237 LVL= 28528, 32353, 31026, 32755, AGC= 60, IDX= 502,-0.05,-3.105, 1.160, 2.901, 2.753, PHS= 0.528,-1.548, 0.104, RAW= 138.9,   9.7, CAL= 138.4,  10.6, ROT=  11.6, -10.6

2025-08-08T21:35:58.104Z,1754688958.104 [DAT](INFO): #Rx 14: Read range and direction messages.
2025-08-08T21:35:58.105Z,1754688958.105 [DAT](INFO): direction in FSK: [0.962859,0.197647,0.183951]
2025-08-08T21:35:58.105Z,1754688958.105 [DAT](INFO): publishing direction and range info
2025-08-08T21:35:58.109Z,1754688958.109 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=9.086787
2025-08-08T21:35:58.345Z,1754688958.345 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=9.323105
2025-08-08T21:35:58.394Z,1754688958.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 29.000000 m,
      deltaT: 0.503311 s,
      deltaX: -0.400000 m,
      approachRate: -0.794737 m/s,
      rangeRepo size: 4

2025-08-08T21:35:58.408Z,1754688958.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 29.000000 m,
      bearing: 100.396869 deg,
      lat: 36.905997 deg,
      lon: -122.115846 deg,
      deltaT: 0.503311 s,
      deltaX: -0.400000 m,
      approachRate: -0.794737 m/s,
      posRepo size: 4

2025-08-08T21:35:58.409Z,1754688958.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.00 m.
2025-08-08T21:35:58.411Z,1754688958.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 29.000000 m,
      nav range: 28.201838 m,
      bearing: 100.396869 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.060180 deg/s,
      cmd heading: 90.021374 deg,
      new cmd heading: 90.079300 deg.

2025-08-08T21:35:58.422Z,1754688958.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.572180 target range: 29.000000 and range: 29.00 m.
2025-08-08T21:35:58.597Z,1754688958.597 [DAT](INFO): DAT read: Rx Time:21:35:58.0236 

2025-08-08T21:35:58.598Z,1754688958.598 [DAT](INFO): Rx dataTimestamp_ set to:1754688958.597633
2025-08-08T21:35:58.599Z,1754688958.599 [DAT](INFO): DAT read: Bearing 259.6,  14.3 (Local)

2025-08-08T21:35:58.599Z,1754688958.599 [DAT](INFO): Local bearing/azimuth received:
 Bearing 259.6,  14.3 (Local)

2025-08-08T21:35:58.602Z,1754688958.602 [DAT](INFO): DAT read: Range 11 to 50 :    28.8 m (trip time 19.2 ms) speed 0.5

2025-08-08T21:35:58.606Z,1754688958.606 [DAT](INFO): DAT read: 21:35:58.0236 LVL= 26464, 32609, 31266, 32755, AGC= 60, IDX= 501, 0.02,-1.175, 3.100,-1.439,-1.606, PHS= 0.533,-1.532, 0.123, RAW= 139.2,   9.3, CAL= 138.8,  10.2, ROT=  11.2, -10.2

2025-08-08T21:35:58.607Z,1754688958.607 [DAT](INFO): got valid direction response:
 21:35:58.0236 LVL= 26464, 32609, 31266, 32755, AGC= 60, IDX= 501, 0.02,-1.175, 3.100,-1.439,-1.606, PHS= 0.533,-1.532, 0.123, RAW= 139.2,   9.3, CAL= 138.8,  10.2, ROT=  11.2, -10.2

2025-08-08T21:35:58.608Z,1754688958.608 [DAT](INFO): #Rx 15: Read range and direction messages.
2025-08-08T21:35:58.609Z,1754688958.609 [DAT](INFO): direction in FSK: [0.965452,0.191165,0.177085]
2025-08-08T21:35:58.609Z,1754688958.609 [DAT](INFO): publishing direction and range info
2025-08-08T21:35:58.617Z,1754688958.617 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=9.594940
2025-08-08T21:35:58.785Z,1754688958.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 28.799999 m,
      deltaT: 0.504094 s,
      deltaX: -0.200001 m,
      approachRate: -0.396753 m/s,
      rangeRepo size: 4

2025-08-08T21:35:58.787Z,1754688958.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 28.799999 m,
      bearing: 100.207830 deg,
      lat: 36.905997 deg,
      lon: -122.115845 deg,
      deltaT: 0.504094 s,
      deltaX: -0.200001 m,
      approachRate: -0.396753 m/s,
      posRepo size: 4

2025-08-08T21:35:58.788Z,1754688958.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.80 m.
2025-08-08T21:35:58.791Z,1754688958.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 28.799999 m,
      nav range: 28.070576 m,
      bearing: 100.207830 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.060180 deg/s,
      cmd heading: 90.079301 deg,
      new cmd heading: 90.149771 deg.

2025-08-08T21:35:58.791Z,1754688958.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.573410 target range: 28.799999 and range: 28.80 m.
2025-08-08T21:35:58.850Z,1754688958.850 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=9.827544
2025-08-08T21:35:59.102Z,1754688959.102 [DAT](INFO): DAT read: Rx Time:21:35:58.5233 

2025-08-08T21:35:59.102Z,1754688959.102 [DAT](INFO): Rx dataTimestamp_ set to:1754688959.101768
2025-08-08T21:35:59.103Z,1754688959.103 [DAT](INFO): DAT read: Bearing 259.8,  14.1 (Local)

2025-08-08T21:35:59.104Z,1754688959.104 [DAT](INFO): Local bearing/azimuth received:
 Bearing 259.8,  14.1 (Local)

2025-08-08T21:35:59.106Z,1754688959.106 [DAT](INFO): DAT read: Range 11 to 50 :    28.4 m (trip time 18.9 ms) speed 0.5

2025-08-08T21:35:59.110Z,1754688959.110 [DAT](INFO): DAT read: 21:35:58.5233 LVL= 24736, 30993, 26722, 32755, AGC= 59, IDX= 498, 0.09,-2.195, 2.112,-2.437,-2.612, PHS= 0.519,-1.514, 0.131, RAW= 139.7,   9.3, CAL= 139.2,  10.2, ROT=  10.8, -10.2

2025-08-08T21:35:59.111Z,1754688959.111 [DAT](INFO): got valid direction response:
 21:35:58.5233 LVL= 24736, 30993, 26722, 32755, AGC= 59, IDX= 498, 0.09,-2.195, 2.112,-2.437,-2.612, PHS= 0.519,-1.514, 0.131, RAW= 139.7,   9.3, CAL= 139.2,  10.2, ROT=  10.8, -10.2

2025-08-08T21:35:59.117Z,1754688959.117 [DAT](INFO): #Rx 16: Read range and direction messages.
2025-08-08T21:35:59.118Z,1754688959.118 [DAT](INFO): direction in FSK: [0.966763,0.184420,0.177085]
2025-08-08T21:35:59.118Z,1754688959.118 [DAT](INFO): publishing direction and range info
2025-08-08T21:35:59.150Z,1754688959.150 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=10.127808
2025-08-08T21:35:59.283Z,1754688959.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 28.400000 m,
      deltaT: 0.504135 s,
      deltaX: -0.400000 m,
      approachRate: -0.793437 m/s,
      rangeRepo size: 4

2025-08-08T21:35:59.290Z,1754688959.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 28.400000 m,
      bearing: 100.254584 deg,
      lat: 36.905997 deg,
      lon: -122.115845 deg,
      deltaT: 0.504135 s,
      deltaX: -0.400000 m,
      approachRate: -0.793437 m/s,
      posRepo size: 4

2025-08-08T21:35:59.290Z,1754688959.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.40 m.
2025-08-08T21:35:59.297Z,1754688959.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 28.400000 m,
      nav range: 27.712816 m,
      bearing: 100.254584 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.060180 deg/s,
      cmd heading: 90.149768 deg,
      new cmd heading: 90.239770 deg.

2025-08-08T21:35:59.298Z,1754688959.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.574981 target range: 28.400000 and range: 28.40 m.
2025-08-08T21:35:59.353Z,1754688959.353 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=10.331006
2025-08-08T21:35:59.608Z,1754688959.608 [DAT](INFO): DAT read: Rx Time:21:35:59.0232 

2025-08-08T21:35:59.609Z,1754688959.609 [DAT](INFO): Rx dataTimestamp_ set to:1754688959.608461
2025-08-08T21:35:59.610Z,1754688959.610 [DAT](INFO): DAT read: Bearing 260.0,  13.9 (Local)

2025-08-08T21:35:59.610Z,1754688959.610 [DAT](INFO): Local bearing/azimuth received:
 Bearing 260.0,  13.9 (Local)

2025-08-08T21:35:59.613Z,1754688959.613 [DAT](INFO): DAT read: Range 11 to 50 :    28.2 m (trip time 18.8 ms) speed 0.5

2025-08-08T21:35:59.617Z,1754688959.617 [DAT](INFO): DAT read: 21:35:59.0232 LVL= 26000, 30289, 28210, 32755, AGC= 59, IDX= 497, 0.15,-0.978,-2.953,-1.203,-1.388, PHS= 0.511,-1.521, 0.140, RAW= 140.1,   9.3, CAL= 139.7,  10.2, ROT=  10.3, -10.2

2025-08-08T21:35:59.618Z,1754688959.618 [DAT](INFO): got valid direction response:
 21:35:59.0232 LVL= 26000, 30289, 28210, 32755, AGC= 59, IDX= 497, 0.15,-0.978,-2.953,-1.203,-1.388, PHS= 0.511,-1.521, 0.140, RAW= 140.1,   9.3, CAL= 139.7,  10.2, ROT=  10.3, -10.2

2025-08-08T21:35:59.618Z,1754688959.618 [DAT](INFO): #Rx 17: Read range and direction messages.
2025-08-08T21:35:59.619Z,1754688959.619 [DAT](INFO): direction in FSK: [0.968335,0.175976,0.177085]
2025-08-08T21:35:59.660Z,1754688959.660 [DAT](INFO): publishing direction and range info
2025-08-08T21:35:59.663Z,1754688959.663 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=10.641200
2025-08-08T21:35:59.747Z,1754688959.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 28.200001 m,
      deltaT: 0.506693 s,
      deltaX: -0.199999 m,
      approachRate: -0.394714 m/s,
      rangeRepo size: 4

2025-08-08T21:35:59.753Z,1754688959.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 28.200001 m,
      bearing: 100.026755 deg,
      lat: 36.905998 deg,
      lon: -122.115845 deg,
      deltaT: 0.506693 s,
      deltaX: -0.199999 m,
      approachRate: -0.394714 m/s,
      posRepo size: 4

2025-08-08T21:35:59.754Z,1754688959.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.20 m.
2025-08-08T21:35:59.761Z,1754688959.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 28.200001 m,
      nav range: 27.406176 m,
      bearing: 100.026755 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.060180 deg/s,
      cmd heading: 90.239769 deg,
      new cmd heading: 90.323437 deg.

2025-08-08T21:35:59.762Z,1754688959.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.576441 target range: 28.200001 and range: 28.20 m.
2025-08-08T21:35:59.858Z,1754688959.858 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=10.835767
2025-08-08T21:36:00.109Z,1754688960.109 [DAT](INFO): DAT read: Rx Time:21:35:59.5229 

2025-08-08T21:36:00.110Z,1754688960.110 [DAT](INFO): Rx dataTimestamp_ set to:1754688960.109650
2025-08-08T21:36:00.111Z,1754688960.111 [DAT](INFO): DAT read: Bearing 259.9,  13.5 (Local)

2025-08-08T21:36:00.112Z,1754688960.112 [DAT](INFO): Local bearing/azimuth received:
 Bearing 259.9,  13.5 (Local)

2025-08-08T21:36:00.115Z,1754688960.115 [DAT](INFO): DAT read: Range 11 to 50 :    27.8 m (trip time 18.5 ms) speed 0.5

2025-08-08T21:36:00.121Z,1754688960.121 [DAT](INFO): DAT read: 21:35:59.5229 LVL= 24080, 28465, 27506, 32755, AGC= 59, IDX= 510, 0.23,-2.006, 2.312,-2.205,-2.412, PHS= 0.508,-1.514, 0.163, RAW= 140.8,   9.0, CAL= 140.4,   9.9, ROT=   9.6,  -9.9

2025-08-08T21:36:00.122Z,1754688960.122 [DAT](INFO): got valid direction response:
 21:35:59.5229 LVL= 24080, 28465, 27506, 32755, AGC= 59, IDX= 510, 0.23,-2.006, 2.312,-2.205,-2.412, PHS= 0.508,-1.514, 0.163, RAW= 140.8,   9.0, CAL= 140.4,   9.9, ROT=   9.6,  -9.9

2025-08-08T21:36:00.122Z,1754688960.122 [DAT](INFO): #Rx 18: Read range and direction messages.
2025-08-08T21:36:00.123Z,1754688960.123 [DAT](INFO): direction in FSK: [0.971314,0.164285,0.171929]
2025-08-08T21:36:00.123Z,1754688960.123 [DAT](INFO): publishing direction and range info
2025-08-08T21:36:00.133Z,1754688960.133 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=11.111257
2025-08-08T21:36:00.290Z,1754688960.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 27.799999 m,
      deltaT: 0.501189 s,
      deltaX: -0.400002 m,
      approachRate: -0.798105 m/s,
      rangeRepo size: 4

2025-08-08T21:36:00.292Z,1754688960.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 27.799999 m,
      bearing: 100.040607 deg,
      lat: 36.905998 deg,
      lon: -122.115845 deg,
      deltaT: 0.501189 s,
      deltaX: -0.400002 m,
      approachRate: -0.798105 m/s,
      posRepo size: 4

2025-08-08T21:36:00.293Z,1754688960.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.80 m.
2025-08-08T21:36:00.296Z,1754688960.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.799999 m,
      nav range: 27.051233 m,
      bearing: 100.040607 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.060180 deg/s,
      cmd heading: 90.323439 deg,
      new cmd heading: 90.421525 deg.

2025-08-08T21:36:00.297Z,1754688960.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.578153 target range: 27.799999 and range: 27.80 m.
2025-08-08T21:36:00.361Z,1754688960.361 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=11.339173
2025-08-08T21:36:00.613Z,1754688960.613 [DAT](INFO): DAT read: Rx Time:21:36:00.0228 

2025-08-08T21:36:00.614Z,1754688960.614 [DAT](INFO): Rx dataTimestamp_ set to:1754688960.613555
2025-08-08T21:36:00.615Z,1754688960.615 [DAT](INFO): DAT read: Bearing 259.9,  12.9 (Local)

2025-08-08T21:36:00.615Z,1754688960.615 [DAT](INFO): Local bearing/azimuth received:
 Bearing 259.9,  12.9 (Local)

2025-08-08T21:36:00.626Z,1754688960.626 [DAT](INFO): DAT read: Range 11 to 50 :    27.6 m (trip time 18.4 ms) speed 0.5

2025-08-08T21:36:00.634Z,1754688960.634 [DAT](INFO): DAT read: 21:36:00.0228 LVL= 24368, 32337, 23794, 32755, AGC= 58, IDX= 509, 0.27,-1.003,-2.926,-1.166,-1.394, PHS= 0.493,-1.487, 0.183, RAW= 141.6,   8.8, CAL= 141.2,   9.7, ROT=   8.8,  -9.7

2025-08-08T21:36:00.635Z,1754688960.635 [DAT](INFO): got valid direction response:
 21:36:00.0228 LVL= 24368, 32337, 23794, 32755, AGC= 58, IDX= 509, 0.27,-1.003,-2.926,-1.166,-1.394, PHS= 0.493,-1.487, 0.183, RAW= 141.6,   8.8, CAL= 141.2,   9.7, ROT=   8.8,  -9.7

2025-08-08T21:36:00.654Z,1754688960.654 [DAT](INFO): #Rx 19: Read range and direction messages.
2025-08-08T21:36:00.655Z,1754688960.655 [DAT](INFO): direction in FSK: [0.974100,0.150799,0.168489]
2025-08-08T21:36:00.655Z,1754688960.655 [DAT](INFO): publishing direction and range info
2025-08-08T21:36:00.659Z,1754688960.659 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=11.636556
2025-08-08T21:36:00.722Z,1754688960.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 27.600000 m,
      deltaT: 0.503905 s,
      deltaX: -0.199999 m,
      approachRate: -0.396898 m/s,
      rangeRepo size: 4

2025-08-08T21:36:00.728Z,1754688960.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 27.600000 m,
      bearing: 99.601400 deg,
      lat: 36.906000 deg,
      lon: -122.115845 deg,
      deltaT: 0.503905 s,
      deltaX: -0.199999 m,
      approachRate: -0.396898 m/s,
      posRepo size: 4

2025-08-08T21:36:00.729Z,1754688960.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.60 m.
2025-08-08T21:36:00.736Z,1754688960.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.600000 m,
      nav range: 26.771164 m,
      bearing: 99.601400 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.060180 deg/s,
      cmd heading: 90.421528 deg,
      new cmd heading: 90.499522 deg.

2025-08-08T21:36:00.737Z,1754688960.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.579515 target range: 27.600000 and range: 27.60 m.
2025-08-08T21:36:00.866Z,1754688960.866 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=11.843724
2025-08-08T21:36:01.119Z,1754688961.119 [DAT](INFO): DAT read: Rx Time:21:36:00.5225 

2025-08-08T21:36:01.120Z,1754688961.120 [DAT](INFO): Rx dataTimestamp_ set to:1754688961.119433
2025-08-08T21:36:01.122Z,1754688961.122 [DAT](INFO): DAT read: Bearing 260.0,  12.3 (Local)

2025-08-08T21:36:01.122Z,1754688961.122 [DAT](INFO): Local bearing/azimuth received:
 Bearing 260.0,  12.3 (Local)

2025-08-08T21:36:01.125Z,1754688961.125 [DAT](INFO): DAT read: Range 11 to 50 :    27.2 m (trip time 18.1 ms) speed 0.5

2025-08-08T21:36:01.131Z,1754688961.131 [DAT](INFO): DAT read: 21:36:00.5225 LVL= 24960, 32753, 30514, 32755, AGC= 58, IDX= 506, 0.28,-2.015, 2.349,-2.147,-2.396, PHS= 0.483,-1.493, 0.205, RAW= 142.5,   8.7, CAL= 142.1,   9.6, ROT=   7.9,  -9.6

2025-08-08T21:36:01.133Z,1754688961.133 [DAT](INFO): got valid direction response:
 21:36:00.5225 LVL= 24960, 32753, 30514, 32755, AGC= 58, IDX= 506, 0.28,-2.015, 2.349,-2.147,-2.396, PHS= 0.483,-1.493, 0.205, RAW= 142.5,   8.7, CAL= 142.1,   9.6, ROT=   7.9,  -9.6

2025-08-08T21:36:01.133Z,1754688961.133 [DAT](INFO): #Rx 20: Read range and direction messages.
2025-08-08T21:36:01.134Z,1754688961.134 [DAT](INFO): direction in FSK: [0.976638,0.135520,0.166769]
2025-08-08T21:36:01.134Z,1754688961.134 [DAT](INFO): publishing direction and range info
2025-08-08T21:36:01.156Z,1754688961.156 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=12.133619
2025-08-08T21:36:01.301Z,1754688961.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 27.200001 m,
      deltaT: 0.505878 s,
      deltaX: -0.400000 m,
      approachRate: -0.790704 m/s,
      rangeRepo size: 4

2025-08-08T21:36:01.303Z,1754688961.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 27.200001 m,
      bearing: 99.367485 deg,
      lat: 36.906002 deg,
      lon: -122.115845 deg,
      deltaT: 0.505878 s,
      deltaX: -0.400000 m,
      approachRate: -0.790704 m/s,
      posRepo size: 4

2025-08-08T21:36:01.305Z,1754688961.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.20 m.
2025-08-08T21:36:01.307Z,1754688961.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 27.200001 m,
      nav range: 26.374159 m,
      bearing: 99.367485 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.060180 deg/s,
      cmd heading: 90.499522 deg,
      new cmd heading: 90.604094 deg.

2025-08-08T21:36:01.317Z,1754688961.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.581340 target range: 27.200001 and range: 27.20 m.
2025-08-08T21:36:01.369Z,1754688961.369 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=12.347466
2025-08-08T21:36:01.622Z,1754688961.622 [DAT](INFO): DAT read: Rx Time:21:36:01.0223 

2025-08-08T21:36:01.622Z,1754688961.622 [DAT](INFO): Rx dataTimestamp_ set to:1754688961.622025
2025-08-08T21:36:01.624Z,1754688961.624 [DAT](INFO): DAT read: Bearing 260.9,  11.5 (Local)

2025-08-08T21:36:01.625Z,1754688961.625 [DAT](INFO): Local bearing/azimuth received:
 Bearing 260.9,  11.5 (Local)

2025-08-08T21:36:01.627Z,1754688961.627 [DAT](INFO): DAT read: Range 11 to 50 :    26.9 m (trip time 17.9 ms) speed 0.5

2025-08-08T21:36:01.631Z,1754688961.631 [DAT](INFO): DAT read: 21:36:01.0223 LVL= 27408, 30961, 30146, 32755, AGC= 58, IDX= 504, 0.23,-1.475, 2.906,-1.570,-1.815, PHS= 0.443,-1.518, 0.201, RAW= 143.5,   9.5, CAL= 143.1,  10.3, ROT=   6.9, -10.3

2025-08-08T21:36:01.632Z,1754688961.632 [DAT](INFO): got valid direction response:
 21:36:01.0223 LVL= 27408, 30961, 30146, 32755, AGC= 58, IDX= 504, 0.23,-1.475, 2.906,-1.570,-1.815, PHS= 0.443,-1.518, 0.201, RAW= 143.5,   9.5, CAL= 143.1,  10.3, ROT=   6.9, -10.3

2025-08-08T21:36:01.633Z,1754688961.633 [DAT](INFO): #Rx 21: Read range and direction messages.
2025-08-08T21:36:01.634Z,1754688961.634 [DAT](INFO): direction in FSK: [0.976759,0.118201,0.178802]
2025-08-08T21:36:01.634Z,1754688961.634 [DAT](INFO): publishing direction and range info
2025-08-08T21:36:01.638Z,1754688961.638 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=12.615529
2025-08-08T21:36:01.740Z,1754688961.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.900000 m,
      deltaT: 0.502592 s,
      deltaX: -0.300001 m,
      approachRate: -0.596908 m/s,
      rangeRepo size: 4

2025-08-08T21:36:01.742Z,1754688961.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.900000 m,
      bearing: 99.075382 deg,
      lat: 36.906003 deg,
      lon: -122.115845 deg,
      deltaT: 0.502592 s,
      deltaX: -0.300001 m,
      approachRate: -0.596908 m/s,
      posRepo size: 4

2025-08-08T21:36:01.743Z,1754688961.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.90 m.
2025-08-08T21:36:01.750Z,1754688961.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 26.900000 m,
      nav range: 26.075115 m,
      bearing: 99.075382 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.060180 deg/s,
      cmd heading: 90.604092 deg,
      new cmd heading: 90.682582 deg.

2025-08-08T21:36:01.751Z,1754688961.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.582710 target range: 26.900000 and range: 26.90 m.
2025-08-08T21:36:01.873Z,1754688961.873 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=12.851218
2025-08-08T21:36:02.126Z,1754688962.126 [DAT](INFO): DAT read: Rx Time:21:36:01.5220 

2025-08-08T21:36:02.127Z,1754688962.127 [DAT](INFO): Rx dataTimestamp_ set to:1754688962.126240
2025-08-08T21:36:02.129Z,1754688962.129 [DAT](INFO): DAT read: Bearing 260.1,  10.6 (Local)

2025-08-08T21:36:02.129Z,1754688962.129 [DAT](INFO): Local bearing/azimuth received:
 Bearing 260.1,  10.6 (Local)

2025-08-08T21:36:02.132Z,1754688962.132 [DAT](INFO): DAT read: Range 11 to 50 :    26.4 m (trip time 17.6 ms) speed 0.6

2025-08-08T21:36:02.137Z,1754688962.137 [DAT](INFO): DAT read: 21:36:01.5220 LVL= 22944, 32305, 25266, 32755, AGC= 58, IDX= 501, 0.16,-2.598, 1.806,-2.645,-2.944, PHS= 0.447,-1.489, 0.254, RAW= 144.8,   8.6, CAL= 144.4,   9.3, ROT=   5.6,  -9.3

2025-08-08T21:36:02.138Z,1754688962.138 [DAT](INFO): got valid direction response:
 21:36:01.5220 LVL= 22944, 32305, 25266, 32755, AGC= 58, IDX= 501, 0.16,-2.598, 1.806,-2.645,-2.944, PHS= 0.447,-1.489, 0.254, RAW= 144.8,   8.6, CAL= 144.4,   9.3, ROT=   5.6,  -9.3

2025-08-08T21:36:02.139Z,1754688962.139 [DAT](INFO): #Rx 22: Read range and direction messages.
2025-08-08T21:36:02.139Z,1754688962.139 [DAT](INFO): direction in FSK: [0.982146,0.096300,0.161604]
2025-08-08T21:36:02.164Z,1754688962.164 [DAT](INFO): publishing direction and range info
2025-08-08T21:36:02.167Z,1754688962.167 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=13.145320
2025-08-08T21:36:02.302Z,1754688962.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.400000 m,
      deltaT: 0.504215 s,
      deltaX: -0.500000 m,
      approachRate: -0.991640 m/s,
      rangeRepo size: 4

2025-08-08T21:36:02.307Z,1754688962.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.400000 m,
      bearing: 98.636251 deg,
      lat: 36.906005 deg,
      lon: -122.115845 deg,
      deltaT: 0.504215 s,
      deltaX: -0.500000 m,
      approachRate: -0.991640 m/s,
      posRepo size: 4

2025-08-08T21:36:02.316Z,1754688962.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.40 m.
2025-08-08T21:36:02.337Z,1754688962.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 26.400000 m,
      nav range: 25.694208 m,
      bearing: 98.636251 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.060180 deg/s,
      cmd heading: 90.682584 deg,
      new cmd heading: 90.784742 deg.

2025-08-08T21:36:02.338Z,1754688962.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.584493 target range: 26.400000 and range: 26.40 m.
2025-08-08T21:36:02.377Z,1754688962.377 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=13.354925
2025-08-08T21:36:02.630Z,1754688962.630 [DAT](INFO): DAT read: Rx Time:21:36:02.0219 

2025-08-08T21:36:02.630Z,1754688962.630 [DAT](INFO): Rx dataTimestamp_ set to:1754688962.629688
2025-08-08T21:36:02.631Z,1754688962.631 [DAT](INFO): DAT read: Bearing 260.2,   9.8 (Local)

2025-08-08T21:36:02.632Z,1754688962.632 [DAT](INFO): Local bearing/azimuth received:
 Bearing 260.2,   9.8 (Local)

2025-08-08T21:36:02.634Z,1754688962.634 [DAT](INFO): DAT read: Range 11 to 50 :    26.3 m (trip time 17.5 ms) speed 0.6

2025-08-08T21:36:02.638Z,1754688962.638 [DAT](INFO): DAT read: 21:36:02.0219 LVL= 21920, 31729, 24882, 32755, AGC= 57, IDX= 500, 0.09,-1.636, 2.788,-1.642,-1.963, PHS= 0.429,-1.487, 0.277, RAW= 145.9,   8.5, CAL= 145.5,   9.3, ROT=   4.5,  -9.3

2025-08-08T21:36:02.639Z,1754688962.639 [DAT](INFO): got valid direction response:
 21:36:02.0219 LVL= 21920, 31729, 24882, 32755, AGC= 57, IDX= 500, 0.09,-1.636, 2.788,-1.642,-1.963, PHS= 0.429,-1.487, 0.277, RAW= 145.9,   8.5, CAL= 145.5,   9.3, ROT=   4.5,  -9.3

2025-08-08T21:36:02.640Z,1754688962.640 [DAT](INFO): #Rx 23: Read range and direction messages.
2025-08-08T21:36:02.641Z,1754688962.641 [DAT](INFO): direction in FSK: [0.983814,0.077428,0.161604]
2025-08-08T21:36:02.641Z,1754688962.641 [DAT](INFO): publishing direction and range info
2025-08-08T21:36:02.645Z,1754688962.645 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=13.623164
2025-08-08T21:36:02.842Z,1754688962.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 26.299999 m,
      deltaT: 0.503448 s,
      deltaX: -0.100000 m,
      approachRate: -0.198631 m/s,
      rangeRepo size: 4

2025-08-08T21:36:02.845Z,1754688962.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 26.299999 m,
      bearing: 97.899934 deg,
      lat: 36.906008 deg,
      lon: -122.115845 deg,
      deltaT: 0.503448 s,
      deltaX: -0.100000 m,
      approachRate: -0.198631 m/s,
      posRepo size: 4

2025-08-08T21:36:02.846Z,1754688962.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.30 m.
2025-08-08T21:36:02.855Z,1754688962.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 26.299999 m,
      nav range: 25.336498 m,
      bearing: 97.899934 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.060180 deg/s,
      cmd heading: 90.784743 deg,
      new cmd heading: 90.882070 deg.

2025-08-08T21:36:02.881Z,1754688962.881 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=13.858958
2025-08-08T21:36:02.882Z,1754688962.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.586191 target range: 26.299999 and range: 26.30 m.
2025-08-08T21:36:03.134Z,1754688963.134 [DAT](INFO): DAT read: Rx Time:21:36:02.5216 

2025-08-08T21:36:03.134Z,1754688963.134 [DAT](INFO): Rx dataTimestamp_ set to:1754688963.133804
2025-08-08T21:36:03.135Z,1754688963.135 [DAT](INFO): DAT read: Bearing 260.3,   9.3 (Local)

2025-08-08T21:36:03.136Z,1754688963.136 [DAT](INFO): Local bearing/azimuth received:
 Bearing 260.3,   9.3 (Local)

2025-08-08T21:36:03.138Z,1754688963.138 [DAT](INFO): DAT read: Range 11 to 50 :    25.8 m (trip time 17.2 ms) speed 0.6

2025-08-08T21:36:03.143Z,1754688963.143 [DAT](INFO): DAT read: 21:36:02.5216 LVL= 21296, 31089, 22482, 32755, AGC= 57, IDX= 497,-0.01, 3.001, 1.162, 3.025, 2.691, PHS= 0.412,-1.483, 0.290, RAW= 146.7,   8.5, CAL= 146.3,   9.3, ROT=   3.7,  -9.3

2025-08-08T21:36:03.144Z,1754688963.144 [DAT](INFO): got valid direction response:
 21:36:02.5216 LVL= 21296, 31089, 22482, 32755, AGC= 57, IDX= 497,-0.01, 3.001, 1.162, 3.025, 2.691, PHS= 0.412,-1.483, 0.290, RAW= 146.7,   8.5, CAL= 146.3,   9.3, ROT=   3.7,  -9.3

2025-08-08T21:36:03.144Z,1754688963.144 [DAT](INFO): #Rx 24: Read range and direction messages.
2025-08-08T21:36:03.145Z,1754688963.145 [DAT](INFO): direction in FSK: [0.984799,0.063684,0.161604]
2025-08-08T21:36:03.145Z,1754688963.145 [DAT](INFO): publishing direction and range info
2025-08-08T21:36:03.149Z,1754688963.149 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=14.126949
2025-08-08T21:36:03.385Z,1754688963.385 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=14.362920
2025-08-08T21:36:03.439Z,1754688963.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 25.799999 m,
      deltaT: 0.504116 s,
      deltaX: -0.500000 m,
      approachRate: -0.991835 m/s,
      rangeRepo size: 4

2025-08-08T21:36:03.445Z,1754688963.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 25.799999 m,
      bearing: 96.470217 deg,
      lat: 36.906014 deg,
      lon: -122.115845 deg,
      deltaT: 0.504116 s,
      deltaX: -0.500000 m,
      approachRate: -0.991835 m/s,
      posRepo size: 4

2025-08-08T21:36:03.446Z,1754688963.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.80 m.
2025-08-08T21:36:03.453Z,1754688963.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 25.799999 m,
      nav range: 24.890974 m,
      bearing: 96.470217 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.060180 deg/s,
      cmd heading: 90.882067 deg,
      new cmd heading: 90.989975 deg.

2025-08-08T21:36:03.459Z,1754688963.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.588075 target range: 25.799999 and range: 25.80 m.
2025-08-08T21:36:03.637Z,1754688963.637 [DAT](INFO): DAT read: Rx Time:21:36:03.0215 

2025-08-08T21:36:03.638Z,1754688963.638 [DAT](INFO): Rx dataTimestamp_ set to:1754688963.637635
2025-08-08T21:36:03.639Z,1754688963.639 [DAT](INFO): DAT read: Bearing 262.0,   4.2 (Local)

2025-08-08T21:36:03.640Z,1754688963.640 [DAT](INFO): Local bearing/azimuth received:
 Bearing 262.0,   4.2 (Local)

2025-08-08T21:36:03.642Z,1754688963.642 [DAT](INFO): DAT read: Range 11 to 50 :    25.7 m (trip time 17.1 ms) speed 0.7

2025-08-08T21:36:03.646Z,1754688963.646 [DAT](INFO): DAT read: 21:36:03.0215 LVL= 21584, 30865, 23762, 32755, AGC= 57, IDX= 512,-0.13,-1.011,-3.012,-0.794,-1.210, PHS= 0.301,-1.758, 0.372, RAW= 151.7,  10.4, CAL= 151.4,  11.3, ROT= 358.6, -11.3

2025-08-08T21:36:03.647Z,1754688963.647 [DAT](INFO): got valid direction response:
 21:36:03.0215 LVL= 21584, 30865, 23762, 32755, AGC= 57, IDX= 512,-0.13,-1.011,-3.012,-0.794,-1.210, PHS= 0.301,-1.758, 0.372, RAW= 151.7,  10.4, CAL= 151.4,  11.3, ROT= 358.6, -11.3

2025-08-08T21:36:03.648Z,1754688963.648 [DAT](INFO): #Rx 25: Read range and direction messages.
2025-08-08T21:36:03.649Z,1754688963.649 [DAT](INFO): direction in FSK: [0.980322,-0.023958,0.195946]
2025-08-08T21:36:03.649Z,1754688963.649 [DAT](INFO): publishing direction and range info
2025-08-08T21:36:03.661Z,1754688963.661 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=14.638788
2025-08-08T21:36:03.889Z,1754688963.889 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=14.866996
2025-08-08T21:36:03.898Z,1754688963.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 25.700001 m,
      deltaT: 0.503831 s,
      deltaX: -0.099998 m,
      approachRate: -0.198476 m/s,
      rangeRepo size: 4

2025-08-08T21:36:03.904Z,1754688963.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 25.700001 m,
      bearing: 95.833923 deg,
      lat: 36.906017 deg,
      lon: -122.115845 deg,
      deltaT: 0.503831 s,
      deltaX: -0.099998 m,
      approachRate: -0.198476 m/s,
      posRepo size: 4

2025-08-08T21:36:03.906Z,1754688963.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.70 m.
2025-08-08T21:36:03.919Z,1754688963.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 25.700001 m,
      nav range: 24.532774 m,
      bearing: 95.833923 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.060180 deg/s,
      cmd heading: 90.989977 deg,
      new cmd heading: 91.072856 deg.

2025-08-08T21:36:03.933Z,1754688963.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.589521 target range: 25.700001 and range: 25.70 m.
2025-08-08T21:36:04.142Z,1754688964.142 [DAT](INFO): DAT read: Rx Time:21:36:03.5212 

2025-08-08T21:36:04.142Z,1754688964.142 [DAT](INFO): Rx dataTimestamp_ set to:1754688964.142075
2025-08-08T21:36:04.144Z,1754688964.144 [DAT](INFO): DAT read: Bearing 260.5,   8.3 (Local)

2025-08-08T21:36:04.144Z,1754688964.144 [DAT](INFO): Local bearing/azimuth received:
 Bearing 260.5,   8.3 (Local)

2025-08-08T21:36:04.146Z,1754688964.146 [DAT](INFO): DAT read: Range 11 to 50 :    25.2 m (trip time 16.8 ms) speed 0.6

2025-08-08T21:36:04.151Z,1754688964.151 [DAT](INFO): DAT read: 21:36:03.5212 LVL= 23216, 32625, 24722, 32755, AGC= 58, IDX= 509,-0.30, 2.705, 0.926, 2.786, 2.427, PHS= 0.380,-1.455, 0.315, RAW= 148.2,   8.5, CAL= 147.8,   9.2, ROT=   2.2,  -9.2

2025-08-08T21:36:04.152Z,1754688964.152 [DAT](INFO): got valid direction response:
 21:36:03.5212 LVL= 23216, 32625, 24722, 32755, AGC= 58, IDX= 509,-0.30, 2.705, 0.926, 2.786, 2.427, PHS= 0.380,-1.455, 0.315, RAW= 148.2,   8.5, CAL= 147.8,   9.2, ROT=   2.2,  -9.2

2025-08-08T21:36:04.152Z,1754688964.152 [DAT](INFO): #Rx 26: Read range and direction messages.
2025-08-08T21:36:04.153Z,1754688964.153 [DAT](INFO): direction in FSK: [0.986409,0.037894,0.159881]
2025-08-08T21:36:04.154Z,1754688964.154 [DAT](INFO): publishing direction and range info
2025-08-08T21:36:04.157Z,1754688964.157 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=15.135390
2025-08-08T21:36:04.393Z,1754688964.393 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=15.370868
2025-08-08T21:36:04.521Z,1754688964.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 25.200001 m,
      deltaT: 0.504440 s,
      deltaX: -0.500000 m,
      approachRate: -0.991198 m/s,
      rangeRepo size: 4

2025-08-08T21:36:04.523Z,1754688964.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 25.200001 m,
      bearing: 95.414336 deg,
      lat: 36.906018 deg,
      lon: -122.115845 deg,
      deltaT: 0.504440 s,
      deltaX: -0.500000 m,
      approachRate: -0.991198 m/s,
      posRepo size: 4

2025-08-08T21:36:04.523Z,1754688964.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.20 m.
2025-08-08T21:36:04.526Z,1754688964.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 25.200001 m,
      nav range: 24.190968 m,
      bearing: 95.414336 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.060180 deg/s,
      cmd heading: 91.072854 deg,
      new cmd heading: 91.185338 deg.

2025-08-08T21:36:04.527Z,1754688964.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.591484 target range: 25.200001 and range: 25.20 m.
2025-08-08T21:36:04.645Z,1754688964.645 [DAT](INFO): DAT read: Rx Time:21:36:04.0210 

2025-08-08T21:36:04.646Z,1754688964.646 [DAT](INFO): Rx dataTimestamp_ set to:1754688964.645676
2025-08-08T21:36:04.647Z,1754688964.647 [DAT](INFO): DAT read: Bearing 259.7,   7.0 (Local)

2025-08-08T21:36:04.648Z,1754688964.648 [DAT](INFO): Local bearing/azimuth received:
 Bearing 259.7,   7.0 (Local)

2025-08-08T21:36:04.650Z,1754688964.650 [DAT](INFO): DAT read: Range 11 to 50 :    24.9 m (trip time 16.6 ms) speed 0.6

2025-08-08T21:36:04.655Z,1754688964.655 [DAT](INFO): DAT read: 21:36:04.0210 LVL= 22496, 32753, 19954, 32755, AGC= 57, IDX= 507, 0.35, 0.694,-1.085, 0.837, 0.417, PHS= 0.379,-1.457, 0.376, RAW= 149.9,   7.7, CAL= 149.4,   8.3, ROT=   0.6,  -8.3

2025-08-08T21:36:04.656Z,1754688964.656 [DAT](INFO): got valid direction response:
 21:36:04.0210 LVL= 22496, 32753, 19954, 32755, AGC= 57, IDX= 507, 0.35, 0.694,-1.085, 0.837, 0.417, PHS= 0.379,-1.457, 0.376, RAW= 149.9,   7.7, CAL= 149.4,   8.3, ROT=   0.6,  -8.3

2025-08-08T21:36:04.656Z,1754688964.656 [DAT](INFO): #Rx 27: Read range and direction messages.
2025-08-08T21:36:04.657Z,1754688964.657 [DAT](INFO): direction in FSK: [0.989472,0.010362,0.144356]
2025-08-08T21:36:04.657Z,1754688964.657 [DAT](INFO): publishing direction and range info
2025-08-08T21:36:04.661Z,1754688964.661 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=15.638941
2025-08-08T21:36:04.876Z,1754688964.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 24.900000 m,
      deltaT: 0.503601 s,
      deltaX: -0.300001 m,
      approachRate: -0.595712 m/s,
      rangeRepo size: 4

2025-08-08T21:36:04.878Z,1754688964.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 24.900000 m,
      bearing: 94.030607 deg,
      lat: 36.906024 deg,
      lon: -122.115844 deg,
      deltaT: 0.503601 s,
      deltaX: -0.300001 m,
      approachRate: -0.595712 m/s,
      posRepo size: 4

2025-08-08T21:36:04.879Z,1754688964.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.90 m.
2025-08-08T21:36:04.887Z,1754688964.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.900000 m,
      nav range: 23.975452 m,
      bearing: 94.030607 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.060180 deg/s,
      cmd heading: 91.185341 deg,
      new cmd heading: 91.249443 deg.

2025-08-08T21:36:04.897Z,1754688964.897 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=15.874855
2025-08-08T21:36:04.906Z,1754688964.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.592603 target range: 24.900000 and range: 24.90 m.
2025-08-08T21:36:05.151Z,1754688965.151 [DAT](INFO): DAT read: Rx Time:21:36:04.5208 

2025-08-08T21:36:05.152Z,1754688965.152 [DAT](INFO): Rx dataTimestamp_ set to:1754688965.151490
2025-08-08T21:36:05.154Z,1754688965.154 [DAT](INFO): DAT read: Bearing 259.4,   6.3 (Local)

2025-08-08T21:36:05.154Z,1754688965.154 [DAT](INFO): Local bearing/azimuth received:
 Bearing 259.4,   6.3 (Local)

2025-08-08T21:36:05.158Z,1754688965.158 [DAT](INFO): DAT read: Range 11 to 50 :    24.6 m (trip time 16.4 ms) speed 0.6

2025-08-08T21:36:05.164Z,1754688965.164 [DAT](INFO): DAT read: 21:36:04.5208 LVL= 21152, 30897, 23826, 32755, AGC= 57, IDX= 504, 0.12, 0.479,-1.295, 0.660, 0.210, PHS= 0.371,-1.460, 0.406, RAW= 150.9,   7.4, CAL= 150.4,   7.9, ROT= 359.6,  -7.9

2025-08-08T21:36:05.181Z,1754688965.181 [DAT](INFO): got valid direction response:
 21:36:04.5208 LVL= 21152, 30897, 23826, 32755, AGC= 57, IDX= 504, 0.12, 0.479,-1.295, 0.660, 0.210, PHS= 0.371,-1.460, 0.406, RAW= 150.9,   7.4, CAL= 150.4,   7.9, ROT= 359.6,  -7.9

2025-08-08T21:36:05.181Z,1754688965.181 [DAT](INFO): #Rx 28: Read range and direction messages.
2025-08-08T21:36:05.182Z,1754688965.182 [DAT](INFO): direction in FSK: [0.990485,-0.006915,0.137445]
2025-08-08T21:36:05.182Z,1754688965.182 [DAT](INFO): publishing direction and range info
2025-08-08T21:36:05.203Z,1754688965.203 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=16.181011
2025-08-08T21:36:05.398Z,1754688965.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 24.600000 m,
      deltaT: 0.505814 s,
      deltaX: -0.299999 m,
      approachRate: -0.593102 m/s,
      rangeRepo size: 4

2025-08-08T21:36:05.402Z,1754688965.402 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=16.379679
2025-08-08T21:36:05.405Z,1754688965.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 24.600000 m,
      bearing: 92.853469 deg,
      lat: 36.906028 deg,
      lon: -122.115844 deg,
      deltaT: 0.505814 s,
      deltaX: -0.299999 m,
      approachRate: -0.593102 m/s,
      posRepo size: 4

2025-08-08T21:36:05.406Z,1754688965.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.60 m.
2025-08-08T21:36:05.421Z,1754688965.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.600000 m,
      nav range: 23.613493 m,
      bearing: 92.853469 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.060180 deg/s,
      cmd heading: 91.249442 deg,
      new cmd heading: 91.343723 deg.

2025-08-08T21:36:05.423Z,1754688965.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.594249 target range: 24.600000 and range: 24.60 m.
2025-08-08T21:36:05.657Z,1754688965.657 [DAT](INFO): DAT read: Rx Time:21:36:05.0206 

2025-08-08T21:36:05.658Z,1754688965.658 [DAT](INFO): Rx dataTimestamp_ set to:1754688965.657622
2025-08-08T21:36:05.660Z,1754688965.660 [DAT](INFO): DAT read: Bearing 260.0,   5.9 (Local)

2025-08-08T21:36:05.661Z,1754688965.661 [DAT](INFO): Local bearing/azimuth received:
 Bearing 260.0,   5.9 (Local)

2025-08-08T21:36:05.664Z,1754688965.664 [DAT](INFO): DAT read: Range 11 to 50 :    24.3 m (trip time 16.2 ms) speed 0.7

2025-08-08T21:36:05.670Z,1754688965.670 [DAT](INFO): DAT read: 21:36:05.0206 LVL= 19888, 25313, 22210, 27491, AGC= 57, IDX= 502,-0.05,-0.552,-2.354,-0.346,-0.806, PHS= 0.356,-1.502, 0.416, RAW= 151.6,   7.8, CAL= 151.0,   8.3, ROT= 359.0,  -8.3

2025-08-08T21:36:05.671Z,1754688965.671 [DAT](INFO): got valid direction response:
 21:36:05.0206 LVL= 19888, 25313, 22210, 27491, AGC= 57, IDX= 502,-0.05,-0.552,-2.354,-0.346,-0.806, PHS= 0.356,-1.502, 0.416, RAW= 151.6,   7.8, CAL= 151.0,   8.3, ROT= 359.0,  -8.3

2025-08-08T21:36:05.671Z,1754688965.671 [DAT](INFO): #Rx 29: Read range and direction messages.
2025-08-08T21:36:05.680Z,1754688965.680 [DAT](INFO): direction in FSK: [0.989375,-0.017270,0.144356]
2025-08-08T21:36:05.681Z,1754688965.681 [DAT](INFO): publishing direction and range info
2025-08-08T21:36:05.698Z,1754688965.698 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=16.675709
2025-08-08T21:36:05.823Z,1754688965.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 24.299999 m,
      deltaT: 0.506132 s,
      deltaX: -0.300001 m,
      approachRate: -0.592733 m/s,
      rangeRepo size: 4

2025-08-08T21:36:05.830Z,1754688965.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 24.299999 m,
      bearing: 91.961630 deg,
      lat: 36.906031 deg,
      lon: -122.115843 deg,
      deltaT: 0.506132 s,
      deltaX: -0.300001 m,
      approachRate: -0.592733 m/s,
      posRepo size: 4

2025-08-08T21:36:05.831Z,1754688965.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.30 m.
2025-08-08T21:36:05.839Z,1754688965.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 24.299999 m,
      nav range: 23.348423 m,
      bearing: 91.961630 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.060180 deg/s,
      cmd heading: 91.343726 deg,
      new cmd heading: 91.420448 deg.

2025-08-08T21:36:05.842Z,1754688965.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.595588 target range: 24.299999 and range: 24.30 m.
2025-08-08T21:36:05.910Z,1754688965.910 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=16.887957
2025-08-08T21:36:06.161Z,1754688966.161 [DAT](INFO): DAT read: Rx Time:21:36:05.5203 

2025-08-08T21:36:06.162Z,1754688966.162 [DAT](INFO): Rx dataTimestamp_ set to:1754688966.161660
2025-08-08T21:36:06.163Z,1754688966.163 [DAT](INFO): DAT read: Bearing 259.5,   6.2 (Local)

2025-08-08T21:36:06.164Z,1754688966.164 [DAT](INFO): Local bearing/azimuth received:
 Bearing 259.5,   6.2 (Local)

2025-08-08T21:36:06.166Z,1754688966.166 [DAT](INFO): DAT read: Range 11 to 50 :    23.9 m (trip time 15.9 ms) speed 0.6

2025-08-08T21:36:06.170Z,1754688966.170 [DAT](INFO): DAT read: 21:36:05.5203 LVL= 25632, 30113, 28402, 32755, AGC= 57, IDX= 499,-0.23,-1.324,-3.063,-1.119,-1.583, PHS= 0.361,-1.435, 0.420, RAW= 151.6,   7.2, CAL= 151.0,   7.6, ROT= 359.0,  -7.6

2025-08-08T21:36:06.171Z,1754688966.171 [DAT](INFO): got valid direction response:
 21:36:05.5203 LVL= 25632, 30113, 28402, 32755, AGC= 57, IDX= 499,-0.23,-1.324,-3.063,-1.119,-1.583, PHS= 0.361,-1.435, 0.420, RAW= 151.6,   7.2, CAL= 151.0,   7.6, ROT= 359.0,  -7.6

2025-08-08T21:36:06.172Z,1754688966.172 [DAT](INFO): #Rx 30: Read range and direction messages.
2025-08-08T21:36:06.173Z,1754688966.173 [DAT](INFO): direction in FSK: [0.991065,-0.017299,0.132256]
2025-08-08T21:36:06.173Z,1754688966.173 [DAT](INFO): publishing direction and range info
2025-08-08T21:36:06.181Z,1754688966.181 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=17.158602
2025-08-08T21:36:06.291Z,1754688966.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 23.900000 m,
      deltaT: 0.504038 s,
      deltaX: -0.400000 m,
      approachRate: -0.793590 m/s,
      rangeRepo size: 4

2025-08-08T21:36:06.302Z,1754688966.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 23.900000 m,
      bearing: 91.939338 deg,
      lat: 36.906031 deg,
      lon: -122.115843 deg,
      deltaT: 0.504038 s,
      deltaX: -0.400000 m,
      approachRate: -0.793590 m/s,
      posRepo size: 4

2025-08-08T21:36:06.302Z,1754688966.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.90 m.
2025-08-08T21:36:06.309Z,1754688966.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 23.900000 m,
      nav range: 23.040659 m,
      bearing: 91.939338 deg,
      approach rate: 0.000000 m/s,
      LOS rate: 0.060180 deg/s,
      cmd heading: 91.420450 deg,
      new cmd heading: 91.505021 deg.

2025-08-08T21:36:06.310Z,1754688966.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.597064 target range: 23.900000 and range: 23.90 m.
2025-08-08T21:36:06.417Z,1754688966.417 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=17.394979
2025-08-08T21:36:06.664Z,1754688966.664 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-08T21:36:06.667Z,1754688966.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.90 m.
2025-08-08T21:36:06.669Z,1754688966.669 [DAT](INFO): DAT read: Rx Time:21:36:06.0202 

2025-08-08T21:36:06.670Z,1754688966.670 [DAT](INFO): Rx dataTimestamp_ set to:1754688966.669617
2025-08-08T21:36:06.671Z,1754688966.671 [DAT](INFO): DAT read: Bearing 259.6,   5.6 (Local)

2025-08-08T21:36:06.671Z,1754688966.671 [DAT](INFO): Local bearing/azimuth received:
 Bearing 259.6,   5.6 (Local)

2025-08-08T21:36:06.674Z,1754688966.674 [DAT](INFO): DAT read: Range 11 to 50 :    23.7 m (trip time 15.8 ms) speed 0.7

2025-08-08T21:36:06.678Z,1754688966.678 [DAT](INFO): DAT read: 21:36:06.0202 LVL= 25728, 31473, 27202, 32755, AGC= 59, IDX= 498,-0.40, 0.354,-1.416, 0.594, 0.105, PHS= 0.351,-1.476, 0.445, RAW= 152.5,   7.3, CAL= 151.9,   7.7, ROT= 358.1,  -7.7

2025-08-08T21:36:06.679Z,1754688966.679 [DAT](INFO): got valid direction response:
 21:36:06.0202 LVL= 25728, 31473, 27202, 32755, AGC= 59, IDX= 498,-0.40, 0.354,-1.416, 0.594, 0.105, PHS= 0.351,-1.476, 0.445, RAW= 152.5,   7.3, CAL= 151.9,   7.7, ROT= 358.1,  -7.7

2025-08-08T21:36:06.680Z,1754688966.680 [DAT](INFO): #Rx 31: Read range and direction messages.
2025-08-08T21:36:06.681Z,1754688966.681 [DAT](INFO): direction in FSK: [0.990438,-0.032856,0.133986]
2025-08-08T21:36:06.681Z,1754688966.681 [DAT](INFO): publishing direction and range info
2025-08-08T21:36:06.684Z,1754688966.684 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=17.662487
2025-08-08T21:36:06.694Z,1754688966.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 23.900000 m,
      nav range: 22.778492 m,
      bearing: 91.918015 deg,
      approach rate: -0.697286 m/s,
      LOS rate: -0.057367 deg/s,
      cmd heading: 91.505021 deg,
      new cmd heading: 91.440314 deg.

2025-08-08T21:36:06.695Z,1754688966.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.595935 target range: 23.900000 and range: 23.90 m.
2025-08-08T21:36:06.922Z,1754688966.922 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=17.899721
2025-08-08T21:36:07.129Z,1754688967.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 23.700001 m,
      deltaT: 0.507957 s,
      deltaX: -0.199999 m,
      approachRate: -0.393732 m/s,
      rangeRepo size: 4

2025-08-08T21:36:07.131Z,1754688967.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 23.700001 m,
      bearing: 91.640109 deg,
      lat: 36.906032 deg,
      lon: -122.115843 deg,
      deltaT: 0.507957 s,
      deltaX: -0.199999 m,
      approachRate: -0.393732 m/s,
      posRepo size: 4

2025-08-08T21:36:07.136Z,1754688967.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.70 m.
2025-08-08T21:36:07.138Z,1754688967.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 23.700001 m,
      nav range: 22.517191 m,
      bearing: 91.640109 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.057367 deg/s,
      cmd heading: 91.440312 deg,
      new cmd heading: 91.361600 deg.

2025-08-08T21:36:07.139Z,1754688967.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.594561 target range: 23.700001 and range: 23.70 m.
2025-08-08T21:36:07.174Z,1754688967.174 [DAT](INFO): DAT read: Rx Time:21:36:06.5198 

2025-08-08T21:36:07.174Z,1754688967.174 [DAT](INFO): Rx dataTimestamp_ set to:1754688967.173710
2025-08-08T21:36:07.175Z,1754688967.175 [DAT](INFO): DAT read: Bearing 259.2,   5.1 (Local)

2025-08-08T21:36:07.176Z,1754688967.176 [DAT](INFO): Local bearing/azimuth received:
 Bearing 259.2,   5.1 (Local)

2025-08-08T21:36:07.178Z,1754688967.178 [DAT](INFO): DAT read: Range 11 to 50 :    23.1 m (trip time 15.4 ms) speed 0.6

2025-08-08T21:36:07.182Z,1754688967.182 [DAT](INFO): DAT read: 21:36:06.5198 LVL= 25072, 31793, 26914, 32755, AGC= 59, IDX= 494, 0.44,-0.210,-1.984, 0.061,-0.459, PHS= 0.351,-1.480, 0.477, RAW= 153.3,   6.9, CAL= 152.7,   7.2, ROT= 357.3,  -7.2

2025-08-08T21:36:07.183Z,1754688967.183 [DAT](INFO): got valid direction response:
 21:36:06.5198 LVL= 25072, 31793, 26914, 32755, AGC= 59, IDX= 494, 0.44,-0.210,-1.984, 0.061,-0.459, PHS= 0.351,-1.480, 0.477, RAW= 153.3,   6.9, CAL= 152.7,   7.2, ROT= 357.3,  -7.2

2025-08-08T21:36:07.184Z,1754688967.184 [DAT](INFO): #Rx 32: Read range and direction messages.
2025-08-08T21:36:07.185Z,1754688967.185 [DAT](INFO): direction in FSK: [0.991013,-0.046735,0.125333]
2025-08-08T21:36:07.185Z,1754688967.185 [DAT](INFO): publishing direction and range info
2025-08-08T21:36:07.205Z,1754688967.205 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=18.182755
2025-08-08T21:36:07.427Z,1754688967.427 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=18.404236
2025-08-08T21:36:07.549Z,1754688967.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 23.100000 m,
      deltaT: 0.504093 s,
      deltaX: -0.600000 m,
      approachRate: -1.190257 m/s,
      rangeRepo size: 4

2025-08-08T21:36:07.551Z,1754688967.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 23.100000 m,
      bearing: 91.458834 deg,
      lat: 36.906033 deg,
      lon: -122.115843 deg,
      deltaT: 0.504093 s,
      deltaX: -0.600000 m,
      approachRate: -1.190257 m/s,
      posRepo size: 4

2025-08-08T21:36:07.551Z,1754688967.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.10 m.
2025-08-08T21:36:07.554Z,1754688967.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 23.100000 m,
      nav range: 22.221918 m,
      bearing: 91.458834 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.057367 deg/s,
      cmd heading: 91.361601 deg,
      new cmd heading: 91.288786 deg.

2025-08-08T21:36:07.555Z,1754688967.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.593290 target range: 23.100000 and range: 23.10 m.
2025-08-08T21:36:07.678Z,1754688967.678 [DAT](INFO): DAT read: Rx Time:21:36:07.0197 

2025-08-08T21:36:07.678Z,1754688967.678 [DAT](INFO): Rx dataTimestamp_ set to:1754688967.677717
2025-08-08T21:36:07.679Z,1754688967.679 [DAT](INFO): DAT read: Bearing 259.1,   4.9 (Local)

2025-08-08T21:36:07.680Z,1754688967.680 [DAT](INFO): Local bearing/azimuth received:
 Bearing 259.1,   4.9 (Local)

2025-08-08T21:36:07.683Z,1754688967.683 [DAT](INFO): DAT read: Range 11 to 50 :    23.0 m (trip time 15.3 ms) speed 0.6

2025-08-08T21:36:07.687Z,1754688967.687 [DAT](INFO): DAT read: 21:36:07.0197 LVL= 25008, 28817, 25842, 32755, AGC= 58, IDX= 509, 0.31, 1.571,-0.188, 1.860, 1.328, PHS= 0.345,-1.471, 0.487, RAW= 153.7,   6.8, CAL= 153.1,   7.0, ROT= 356.9,  -7.0

2025-08-08T21:36:07.688Z,1754688967.688 [DAT](INFO): got valid direction response:
 21:36:07.0197 LVL= 25008, 28817, 25842, 32755, AGC= 58, IDX= 509, 0.31, 1.571,-0.188, 1.860, 1.328, PHS= 0.345,-1.471, 0.487, RAW= 153.7,   6.8, CAL= 153.1,   7.0, ROT= 356.9,  -7.0

2025-08-08T21:36:07.689Z,1754688967.689 [DAT](INFO): #Rx 33: Read range and direction messages.
2025-08-08T21:36:07.690Z,1754688967.690 [DAT](INFO): direction in FSK: [0.991094,-0.053676,0.121869]
2025-08-08T21:36:07.690Z,1754688967.690 [DAT](INFO): publishing direction and range info
2025-08-08T21:36:07.694Z,1754688967.694 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=18.671610
2025-08-08T21:36:07.884Z,1754688967.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 23.000000 m,
      deltaT: 0.504007 s,
      deltaX: -0.100000 m,
      approachRate: -0.198411 m/s,
      rangeRepo size: 4

2025-08-08T21:36:07.886Z,1754688967.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 23.000000 m,
      bearing: 91.041918 deg,
      lat: 36.906034 deg,
      lon: -122.115843 deg,
      deltaT: 0.504007 s,
      deltaX: -0.100000 m,
      approachRate: -0.198411 m/s,
      posRepo size: 4

2025-08-08T21:36:07.887Z,1754688967.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.00 m.
2025-08-08T21:36:07.893Z,1754688967.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 23.000000 m,
      nav range: 21.994953 m,
      bearing: 91.041918 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.057367 deg/s,
      cmd heading: 91.288784 deg,
      new cmd heading: 91.230927 deg.

2025-08-08T21:36:07.894Z,1754688967.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.592280 target range: 23.000000 and range: 23.00 m.
2025-08-08T21:36:07.930Z,1754688967.930 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=18.907900
2025-08-08T21:36:08.182Z,1754688968.182 [DAT](INFO): DAT read: Rx Time:21:36:07.5194 

2025-08-08T21:36:08.183Z,1754688968.183 [DAT](INFO): Rx dataTimestamp_ set to:1754688968.182599
2025-08-08T21:36:08.185Z,1754688968.185 [DAT](INFO): DAT read: Bearing 259.5,   4.7 (Local)

2025-08-08T21:36:08.186Z,1754688968.186 [DAT](INFO): Local bearing/azimuth received:
 Bearing 259.5,   4.7 (Local)

2025-08-08T21:36:08.191Z,1754688968.191 [DAT](INFO): DAT read: Range 11 to 50 :    22.5 m (trip time 15.0 ms) speed 0.6

2025-08-08T21:36:08.209Z,1754688968.209 [DAT](INFO): DAT read: 21:36:07.5194 LVL= 26992, 32753, 27026, 32755, AGC= 59, IDX= 506, 0.16, 0.253,-1.501, 0.551, 0.024, PHS= 0.330,-1.480, 0.483, RAW= 154.0,   7.1, CAL= 153.4,   7.4, ROT= 356.6,  -7.4

2025-08-08T21:36:08.210Z,1754688968.210 [DAT](INFO): got valid direction response:
 21:36:07.5194 LVL= 26992, 32753, 27026, 32755, AGC= 59, IDX= 506, 0.16, 0.253,-1.501, 0.551, 0.024, PHS= 0.330,-1.480, 0.483, RAW= 154.0,   7.1, CAL= 153.4,   7.4, ROT= 356.6,  -7.4

2025-08-08T21:36:08.210Z,1754688968.210 [DAT](INFO): #Rx 34: Read range and direction messages.
2025-08-08T21:36:08.211Z,1754688968.211 [DAT](INFO): direction in FSK: [0.989926,-0.058812,0.128796]
2025-08-08T21:36:08.211Z,1754688968.211 [DAT](INFO): publishing direction and range info
2025-08-08T21:36:08.219Z,1754688968.219 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=19.197235
2025-08-08T21:36:08.391Z,1754688968.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 22.500000 m,
      deltaT: 0.504882 s,
      deltaX: -0.500000 m,
      approachRate: -0.990330 m/s,
      rangeRepo size: 4

2025-08-08T21:36:08.409Z,1754688968.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 22.500000 m,
      bearing: 90.283923 deg,
      lat: 36.906036 deg,
      lon: -122.115843 deg,
      deltaT: 0.504882 s,
      deltaX: -0.500000 m,
      approachRate: -0.990330 m/s,
      posRepo size: 4

2025-08-08T21:36:08.411Z,1754688968.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.50 m.
2025-08-08T21:36:08.425Z,1754688968.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 22.500000 m,
      nav range: 21.660782 m,
      bearing: 90.283923 deg,
      approach rate: -0.000000 m/s,
      LOS rate: -0.057367 deg/s,
      cmd heading: 91.230926 deg,
      new cmd heading: 91.143618 deg.

2025-08-08T21:36:08.427Z,1754688968.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.590756 target range: 22.500000 and range: 22.50 m.
2025-08-08T21:36:08.433Z,1754688968.433 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=19.411039
2025-08-08T21:36:08.687Z,1754688968.687 [DAT](INFO): DAT read: Rx Time:21:36:08.0193 

2025-08-08T21:36:08.687Z,1754688968.687 [DAT](INFO): Rx dataTimestamp_ set to:1754688968.686909
2025-08-08T21:36:08.689Z,1754688968.689 [DAT](INFO): DAT read: Bearing 259.3,   4.2 (Local)

2025-08-08T21:36:08.690Z,1754688968.690 [DAT](INFO): Local bearing/azimuth received:
 Bearing 259.3,   4.2 (Local)

2025-08-08T21:36:08.692Z,1754688968.692 [DAT](INFO): DAT read: Range 11 to 50 :    22.4 m (trip time 14.9 ms) speed 0.6

2025-08-08T21:36:08.701Z,1754688968.701 [DAT](INFO): DAT read: 21:36:08.0193 LVL= 24800, 29825, 24978, 32755, AGC= 58, IDX= 505, 0.03, 1.315,-0.474, 1.647, 1.087, PHS= 0.330,-1.516, 0.516, RAW= 154.7,   6.9, CAL= 154.1,   7.1, ROT= 355.9,  -7.1

2025-08-08T21:36:08.702Z,1754688968.702 [DAT](INFO): got valid direction response:
 21:36:08.0193 LVL= 24800, 29825, 24978, 32755, AGC= 58, IDX= 505, 0.03, 1.315,-0.474, 1.647, 1.087, PHS= 0.330,-1.516, 0.516, RAW= 154.7,   6.9, CAL= 154.1,   7.1, ROT= 355.9,  -7.1

2025-08-08T21:36:08.703Z,1754688968.703 [DAT](INFO): #Rx 35: Read range and direction messages.
2025-08-08T21:36:08.705Z,1754688968.705 [DAT](INFO): direction in FSK: [0.989792,-0.070949,0.123601]
2025-08-08T21:36:08.705Z,1754688968.705 [DAT](INFO): publishing direction and range info
2025-08-08T21:36:08.708Z,1754688968.708 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=19.686321
2025-08-08T21:36:08.860Z,1754688968.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 22.400000 m,
      deltaT: 0.504310 s,
      deltaX: -0.100000 m,
      approachRate: -0.198291 m/s,
      rangeRepo size: 4

2025-08-08T21:36:08.864Z,1754688968.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 22.400000 m,
      bearing: 89.969577 deg,
      lat: 36.906037 deg,
      lon: -122.115842 deg,
      deltaT: 0.504310 s,
      deltaX: -0.100000 m,
      approachRate: -0.198291 m/s,
      posRepo size: 4

2025-08-08T21:36:08.869Z,1754688968.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.40 m.
2025-08-08T21:36:08.871Z,1754688968.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 22.400000 m,
      nav range: 21.477930 m,
      bearing: 89.969577 deg,
      approach rate: -0.000000 m/s,
      LOS rate: -0.057367 deg/s,
      cmd heading: 91.143615 deg,
      new cmd heading: 91.063725 deg.

2025-08-08T21:36:08.876Z,1754688968.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.589362 target range: 22.400000 and range: 22.40 m.
2025-08-08T21:36:08.938Z,1754688968.938 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=19.915892
2025-08-08T21:36:09.189Z,1754688969.189 [DAT](INFO): DAT read: Rx Time:21:36:08.5190 

2025-08-08T21:36:09.190Z,1754688969.190 [DAT](INFO): Rx dataTimestamp_ set to:1754688969.189584
2025-08-08T21:36:09.191Z,1754688969.191 [DAT](INFO): DAT read: Bearing 259.4,   4.8 (Local)

2025-08-08T21:36:09.191Z,1754688969.191 [DAT](INFO): Local bearing/azimuth received:
 Bearing 259.4,   4.8 (Local)

2025-08-08T21:36:09.194Z,1754688969.194 [DAT](INFO): DAT read: Range 11 to 50 :    21.9 m (trip time 14.6 ms) speed 0.6

2025-08-08T21:36:09.198Z,1754688969.198 [DAT](INFO): DAT read: 21:36:08.5190 LVL= 26720, 31729, 26722, 32755, AGC= 58, IDX= 502,-0.08,-0.664,-2.389,-0.355,-0.889, PHS= 0.327,-1.455, 0.490, RAW= 154.3,   6.9, CAL= 153.7,   7.1, ROT= 356.3,  -7.1

2025-08-08T21:36:09.199Z,1754688969.199 [DAT](INFO): got valid direction response:
 21:36:08.5190 LVL= 26720, 31729, 26722, 32755, AGC= 58, IDX= 502,-0.08,-0.664,-2.389,-0.355,-0.889, PHS= 0.327,-1.455, 0.490, RAW= 154.3,   6.9, CAL= 153.7,   7.1, ROT= 356.3,  -7.1

2025-08-08T21:36:09.200Z,1754688969.200 [DAT](INFO): #Rx 36: Read range and direction messages.
2025-08-08T21:36:09.201Z,1754688969.201 [DAT](INFO): direction in FSK: [0.990264,-0.064038,0.123601]
2025-08-08T21:36:09.201Z,1754688969.201 [DAT](INFO): publishing direction and range info
2025-08-08T21:36:09.241Z,1754688969.241 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=20.209681
2025-08-08T21:36:09.353Z,1754688969.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 21.900000 m,
      deltaT: 0.502675 s,
      deltaX: -0.500000 m,
      approachRate: -0.994678 m/s,
      rangeRepo size: 4

2025-08-08T21:36:09.355Z,1754688969.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 21.900000 m,
      bearing: 89.856224 deg,
      lat: 36.906037 deg,
      lon: -122.115843 deg,
      deltaT: 0.502675 s,
      deltaX: -0.500000 m,
      approachRate: -0.994678 m/s,
      posRepo size: 4

2025-08-08T21:36:09.361Z,1754688969.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.90 m.
2025-08-08T21:36:09.364Z,1754688969.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.900000 m,
      nav range: 21.025743 m,
      bearing: 89.856224 deg,
      approach rate: -0.000000 m/s,
      LOS rate: -0.057367 deg/s,
      cmd heading: 91.063723 deg,
      new cmd heading: 90.978013 deg.

2025-08-08T21:36:09.365Z,1754688969.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.587866 target range: 21.900000 and range: 21.90 m.
2025-08-08T21:36:09.442Z,1754688969.442 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=20.419788
2025-08-08T21:36:09.694Z,1754688969.694 [DAT](INFO): DAT read: Rx Time:21:36:09.0188 

2025-08-08T21:36:09.694Z,1754688969.694 [DAT](INFO): Rx dataTimestamp_ set to:1754688969.693696
2025-08-08T21:36:09.695Z,1754688969.695 [DAT](INFO): DAT read: Bearing 259.6,   4.6 (Local)

2025-08-08T21:36:09.696Z,1754688969.696 [DAT](INFO): Local bearing/azimuth received:
 Bearing 259.6,   4.6 (Local)

2025-08-08T21:36:09.698Z,1754688969.698 [DAT](INFO): DAT read: Range 11 to 50 :    21.6 m (trip time 14.4 ms) speed 0.5

2025-08-08T21:36:09.702Z,1754688969.702 [DAT](INFO): DAT read: 21:36:09.0188 LVL= 25872, 30433, 24610, 32755, AGC= 57, IDX= 500,-0.16,-1.561, 2.993,-1.238,-1.776, PHS= 0.317,-1.469, 0.494, RAW= 154.7,   7.1, CAL= 154.1,   7.3, ROT= 355.9,  -7.3

2025-08-08T21:36:09.703Z,1754688969.703 [DAT](INFO): got valid direction response:
 21:36:09.0188 LVL= 25872, 30433, 24610, 32755, AGC= 57, IDX= 500,-0.16,-1.561, 2.993,-1.238,-1.776, PHS= 0.317,-1.469, 0.494, RAW= 154.7,   7.1, CAL= 154.1,   7.3, ROT= 355.9,  -7.3

2025-08-08T21:36:09.704Z,1754688969.704 [DAT](INFO): #Rx 37: Read range and direction messages.
2025-08-08T21:36:09.705Z,1754688969.705 [DAT](INFO): direction in FSK: [0.989356,-0.070918,0.127065]
2025-08-08T21:36:09.705Z,1754688969.705 [DAT](INFO): publishing direction and range info
2025-08-08T21:36:09.715Z,1754688969.715 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=20.692720
2025-08-08T21:36:09.771Z,1754688969.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 21.600000 m,
      deltaT: 0.504112 s,
      deltaX: -0.299999 m,
      approachRate: -0.595104 m/s,
      rangeRepo size: 4

2025-08-08T21:36:09.778Z,1754688969.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 21.600000 m,
      bearing: 89.699248 deg,
      lat: 36.906037 deg,
      lon: -122.115844 deg,
      deltaT: 0.504112 s,
      deltaX: -0.299999 m,
      approachRate: -0.595104 m/s,
      posRepo size: 4

2025-08-08T21:36:09.778Z,1754688969.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.60 m.
2025-08-08T21:36:09.793Z,1754688969.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.600000 m,
      nav range: 20.703789 m,
      bearing: 89.699248 deg,
      approach rate: -0.000000 m/s,
      LOS rate: -0.057367 deg/s,
      cmd heading: 90.978010 deg,
      new cmd heading: 90.906112 deg.

2025-08-08T21:36:09.794Z,1754688969.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.586611 target range: 21.600000 and range: 21.60 m.
2025-08-08T21:36:09.945Z,1754688969.945 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=20.923037
2025-08-08T21:36:10.198Z,1754688970.198 [DAT](INFO): DAT read: Rx Time:21:36:09.5185 

2025-08-08T21:36:10.198Z,1754688970.198 [DAT](INFO): Rx dataTimestamp_ set to:1754688970.197691
2025-08-08T21:36:10.199Z,1754688970.199 [DAT](INFO): DAT read: Bearing 259.7,   4.7 (Local)

2025-08-08T21:36:10.200Z,1754688970.200 [DAT](INFO): Local bearing/azimuth received:
 Bearing 259.7,   4.7 (Local)

2025-08-08T21:36:10.202Z,1754688970.202 [DAT](INFO): DAT read: Range 11 to 50 :    21.2 m (trip time 14.1 ms) speed 0.6

2025-08-08T21:36:10.206Z,1754688970.206 [DAT](INFO): DAT read: 21:36:09.5185 LVL= 22384, 26993, 21106, 31891, AGC= 56, IDX= 497,-0.26,-2.886, 1.679,-2.558,-3.095, PHS= 0.311,-1.464, 0.492, RAW= 154.8,   7.1, CAL= 154.2,   7.3, ROT= 355.8,  -7.3

2025-08-08T21:36:10.207Z,1754688970.207 [DAT](INFO): got valid direction response:
 21:36:09.5185 LVL= 22384, 26993, 21106, 31891, AGC= 56, IDX= 497,-0.26,-2.886, 1.679,-2.558,-3.095, PHS= 0.311,-1.464, 0.492, RAW= 154.8,   7.1, CAL= 154.2,   7.3, ROT= 355.8,  -7.3

2025-08-08T21:36:10.208Z,1754688970.208 [DAT](INFO): #Rx 38: Read range and direction messages.
2025-08-08T21:36:10.209Z,1754688970.209 [DAT](INFO): direction in FSK: [0.989231,-0.072645,0.127065]
2025-08-08T21:36:10.209Z,1754688970.209 [DAT](INFO): publishing direction and range info
2025-08-08T21:36:10.213Z,1754688970.213 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=21.191154
2025-08-08T21:36:10.230Z,1754688970.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 21.200001 m,
      deltaT: 0.503995 s,
      deltaX: -0.400000 m,
      approachRate: -0.793658 m/s,
      rangeRepo size: 4

2025-08-08T21:36:10.232Z,1754688970.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 21.200001 m,
      bearing: 89.579997 deg,
      lat: 36.906037 deg,
      lon: -122.115844 deg,
      deltaT: 0.503995 s,
      deltaX: -0.400000 m,
      approachRate: -0.793658 m/s,
      posRepo size: 4

2025-08-08T21:36:10.233Z,1754688970.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.20 m.
2025-08-08T21:36:10.235Z,1754688970.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.200001 m,
      nav range: 20.367075 m,
      bearing: 89.579997 deg,
      approach rate: -0.000000 m/s,
      LOS rate: -0.057367 deg/s,
      cmd heading: 90.906109 deg,
      new cmd heading: 90.827197 deg.

2025-08-08T21:36:10.265Z,1754688970.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.585234 target range: 21.200001 and range: 21.20 m.
2025-08-08T21:36:10.449Z,1754688970.449 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=21.427021
2025-08-08T21:36:10.602Z,1754688970.602 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-08T21:36:10.605Z,1754688970.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.20 m.
2025-08-08T21:36:10.607Z,1754688970.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.200001 m,
      nav range: 20.127487 m,
      bearing: 89.482966 deg,
      approach rate: -0.637850 m/s,
      LOS rate: -0.261400 deg/s,
      cmd heading: 90.827200 deg,
      new cmd heading: 90.532643 deg.

2025-08-08T21:36:10.609Z,1754688970.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.580093 target range: 21.200001 and range: 21.20 m.
2025-08-08T21:36:10.702Z,1754688970.702 [DAT](INFO): DAT read: Rx Time:21:36:10.0184 

2025-08-08T21:36:10.703Z,1754688970.703 [DAT](INFO): Rx dataTimestamp_ set to:1754688970.702475
2025-08-08T21:36:10.705Z,1754688970.705 [DAT](INFO): DAT read: Bearing 258.8,   1.4 (Local)

2025-08-08T21:36:10.706Z,1754688970.706 [DAT](INFO): Local bearing/azimuth received:
 Bearing 258.8,   1.4 (Local)

2025-08-08T21:36:10.708Z,1754688970.708 [DAT](INFO): DAT read: Range 11 to 50 :    21.0 m (trip time 14.0 ms) speed 0.6

2025-08-08T21:36:10.713Z,1754688970.713 [DAT](INFO): DAT read: 21:36:10.0184 LVL= 20848, 30849, 20098, 32755, AGC= 55, IDX= 512,-0.31,-1.433,-2.724,-1.034,-1.526, PHS= 0.195,-1.153, 0.448, RAW= 158.4,   6.9, CAL= 157.8,   6.9, ROT= 352.2,  -6.9

2025-08-08T21:36:10.714Z,1754688970.714 [DAT](INFO): got valid direction response:
 21:36:10.0184 LVL= 20848, 30849, 20098, 32755, AGC= 55, IDX= 512,-0.31,-1.433,-2.724,-1.034,-1.526, PHS= 0.195,-1.153, 0.448, RAW= 158.4,   6.9, CAL= 157.8,   6.9, ROT= 352.2,  -6.9

2025-08-08T21:36:10.714Z,1754688970.714 [DAT](INFO): #Rx 39: Read range and direction messages.
2025-08-08T21:36:10.715Z,1754688970.715 [DAT](INFO): direction in FSK: [0.983572,-0.134732,0.120137]
2025-08-08T21:36:10.715Z,1754688970.715 [DAT](INFO): publishing direction and range info
2025-08-08T21:36:10.719Z,1754688970.719 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=21.696970
2025-08-08T21:36:10.953Z,1754688970.953 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=21.931065
2025-08-08T21:36:11.075Z,1754688971.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 21.000000 m,
      deltaT: 0.504784 s,
      deltaX: -0.200001 m,
      approachRate: -0.396211 m/s,
      rangeRepo size: 4

2025-08-08T21:36:11.078Z,1754688971.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 21.000000 m,
      bearing: 89.295343 deg,
      lat: 36.906037 deg,
      lon: -122.115844 deg,
      deltaT: 0.504784 s,
      deltaX: -0.200001 m,
      approachRate: -0.396211 m/s,
      posRepo size: 4

2025-08-08T21:36:11.078Z,1754688971.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.00 m.
2025-08-08T21:36:11.081Z,1754688971.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 21.000000 m,
      nav range: 19.865437 m,
      bearing: 89.295343 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.261400 deg/s,
      cmd heading: 90.532641 deg,
      new cmd heading: 90.163967 deg.

2025-08-08T21:36:11.082Z,1754688971.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.573658 target range: 21.000000 and range: 21.00 m.
2025-08-08T21:36:11.206Z,1754688971.206 [DAT](INFO): DAT read: Rx Time:21:36:10.5181 

2025-08-08T21:36:11.206Z,1754688971.206 [DAT](INFO): Rx dataTimestamp_ set to:1754688971.205715
2025-08-08T21:36:11.207Z,1754688971.207 [DAT](INFO): DAT read: Bearing 259.9,   5.1 (Local)

2025-08-08T21:36:11.208Z,1754688971.208 [DAT](INFO): Local bearing/azimuth received:
 Bearing 259.9,   5.1 (Local)

2025-08-08T21:36:11.210Z,1754688971.210 [DAT](INFO): DAT read: Range 11 to 50 :    20.6 m (trip time 13.7 ms) speed 0.6

2025-08-08T21:36:11.219Z,1754688971.219 [DAT](INFO): DAT read: 21:36:10.5181 LVL= 22496, 32753, 21266, 32755, AGC= 54, IDX= 509,-0.33, 1.396,-0.270, 1.716, 1.197, PHS= 0.300,-1.422, 0.475, RAW= 154.8,   7.2, CAL= 154.2,   7.4, ROT= 355.8,  -7.4

2025-08-08T21:36:11.234Z,1754688971.234 [DAT](INFO): got valid direction response:
 21:36:10.5181 LVL= 22496, 32753, 21266, 32755, AGC= 54, IDX= 509,-0.33, 1.396,-0.270, 1.716, 1.197, PHS= 0.300,-1.422, 0.475, RAW= 154.8,   7.2, CAL= 154.2,   7.4, ROT= 355.8,  -7.4

2025-08-08T21:36:11.234Z,1754688971.234 [DAT](INFO): #Rx 40: Read range and direction messages.
2025-08-08T21:36:11.235Z,1754688971.235 [DAT](INFO): direction in FSK: [0.989008,-0.072628,0.128796]
2025-08-08T21:36:11.235Z,1754688971.235 [DAT](INFO): publishing direction and range info
2025-08-08T21:36:11.247Z,1754688971.247 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=22.225021
2025-08-08T21:36:11.460Z,1754688971.460 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=22.436901
2025-08-08T21:36:11.548Z,1754688971.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 20.600000 m,
      deltaT: 0.503240 s,
      deltaX: -0.400000 m,
      approachRate: -0.794849 m/s,
      rangeRepo size: 4

2025-08-08T21:36:11.551Z,1754688971.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 20.600000 m,
      bearing: 89.261145 deg,
      lat: 36.906037 deg,
      lon: -122.115844 deg,
      deltaT: 0.503240 s,
      deltaX: -0.400000 m,
      approachRate: -0.794849 m/s,
      posRepo size: 4

2025-08-08T21:36:11.551Z,1754688971.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.60 m.
2025-08-08T21:36:11.558Z,1754688971.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 20.600000 m,
      nav range: 19.585438 m,
      bearing: 89.261145 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.261400 deg/s,
      cmd heading: 90.163968 deg,
      new cmd heading: 89.796844 deg.

2025-08-08T21:36:11.559Z,1754688971.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.567251 target range: 20.600000 and range: 20.60 m.
2025-08-08T21:36:11.709Z,1754688971.709 [DAT](INFO): DAT read: Rx Time:21:36:11.0180 

2025-08-08T21:36:11.710Z,1754688971.710 [DAT](INFO): Rx dataTimestamp_ set to:1754688971.709647
2025-08-08T21:36:11.711Z,1754688971.711 [DAT](INFO): DAT read: Bearing 259.8,   4.9 (Local)

2025-08-08T21:36:11.712Z,1754688971.712 [DAT](INFO): Local bearing/azimuth received:
 Bearing 259.8,   4.9 (Local)

2025-08-08T21:36:11.714Z,1754688971.714 [DAT](INFO): DAT read: Range 11 to 50 :    20.4 m (trip time 13.6 ms) speed 0.6

2025-08-08T21:36:11.719Z,1754688971.719 [DAT](INFO): DAT read: 21:36:11.0180 LVL= 21472, 29409, 20930, 32755, AGC= 53, IDX= 508,-0.42, 2.196, 0.522, 2.533, 2.003, PHS= 0.295,-1.436, 0.486, RAW= 155.2,   7.2, CAL= 154.6,   7.4, ROT= 355.4,  -7.4

2025-08-08T21:36:11.720Z,1754688971.720 [DAT](INFO): got valid direction response:
 21:36:11.0180 LVL= 21472, 29409, 20930, 32755, AGC= 53, IDX= 508,-0.42, 2.196, 0.522, 2.533, 2.003, PHS= 0.295,-1.436, 0.486, RAW= 155.2,   7.2, CAL= 154.6,   7.4, ROT= 355.4,  -7.4

2025-08-08T21:36:11.721Z,1754688971.721 [DAT](INFO): #Rx 41: Read range and direction messages.
2025-08-08T21:36:11.722Z,1754688971.722 [DAT](INFO): direction in FSK: [0.988477,-0.079531,0.128796]
2025-08-08T21:36:11.722Z,1754688971.722 [DAT](INFO): publishing direction and range info
2025-08-08T21:36:11.725Z,1754688971.725 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=22.703379
2025-08-08T21:36:11.885Z,1754688971.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 20.400000 m,
      deltaT: 0.503932 s,
      deltaX: -0.200001 m,
      approachRate: -0.396880 m/s,
      rangeRepo size: 4

2025-08-08T21:36:11.887Z,1754688971.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 20.400000 m,
      bearing: 89.162484 deg,
      lat: 36.906037 deg,
      lon: -122.115843 deg,
      deltaT: 0.503932 s,
      deltaX: -0.200001 m,
      approachRate: -0.396880 m/s,
      posRepo size: 4

2025-08-08T21:36:11.887Z,1754688971.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.40 m.
2025-08-08T21:36:11.901Z,1754688971.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 20.400000 m,
      nav range: 19.396517 m,
      bearing: 89.162484 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.261400 deg/s,
      cmd heading: 89.796845 deg,
      new cmd heading: 89.532846 deg.

2025-08-08T21:36:11.903Z,1754688971.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.562643 target range: 20.400000 and range: 20.40 m.
2025-08-08T21:36:11.967Z,1754688971.967 [DAT](INFO): DAT read: Rx Time:21:36:11.5176 

2025-08-08T21:36:11.982Z,1754688971.982 [DAT](INFO): Rx dataTimestamp_ set to:1754688971.980948
2025-08-08T21:36:11.985Z,1754688971.985 [DAT](INFO): DAT read: Bearing 259.6,   5.1 (Local)

2025-08-08T21:36:11.986Z,1754688971.986 [DAT](INFO): Local bearing/azimuth received:
 Bearing 259.6,   5.1 (Local)

2025-08-08T21:36:11.991Z,1754688971.991 [DAT](INFO): DAT read: Range 11 to 50 :    19.8 m (trip time 13.2 ms) speed 0.5

2025-08-08T21:36:12.000Z,1754688972.000 [DAT](ERROR): #Rx 42: Read range message, but no direction.
2025-08-08T21:36:12.003Z,1754688972.003 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=22.980701
2025-08-08T21:36:12.217Z,1754688972.217 [DAT](INFO): DAT read: 21:36:11.5176 LVL= 23440, 31329, 21202, 32755, AGC= 52, IDX= 504, 0.49, 2.269, 0.585, 2.607, 2.067, PHS= 0.304,-1.437, 0.496, RAW= 155.2,   7.0, CAL= 154.6,   7.1, ROT= 355.4,  -7.1

2025-08-08T21:36:12.218Z,1754688972.218 [DAT](INFO): got valid direction response:
 21:36:11.5176 LVL= 23440, 31329, 21202, 32755, AGC= 52, IDX= 504, 0.49, 2.269, 0.585, 2.607, 2.067, PHS= 0.304,-1.437, 0.496, RAW= 155.2,   7.0, CAL= 154.6,   7.1, ROT= 355.4,  -7.1

2025-08-08T21:36:12.218Z,1754688972.218 [DAT](INFO): #Rx 43: Read direction message, but no range.
2025-08-08T21:36:12.219Z,1754688972.219 [DAT](INFO): direction in FSK: [0.989135,-0.079584,0.123601]
2025-08-08T21:36:12.223Z,1754688972.223 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=23.200602
2025-08-08T21:36:12.349Z,1754688972.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.799999 m,
      deltaT: 0.271301 s,
      deltaX: -0.600000 m,
      approachRate: -2.211567 m/s,
      rangeRepo size: 4

2025-08-08T21:36:12.351Z,1754688972.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.799999 m,
      bearing: 89.173821 deg,
      lat: 36.906037 deg,
      lon: -122.115843 deg,
      deltaT: 0.271301 s,
      deltaX: -0.600000 m,
      approachRate: -2.211567 m/s,
      posRepo size: 4

2025-08-08T21:36:12.352Z,1754688972.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.80 m.
2025-08-08T21:36:12.354Z,1754688972.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 19.799999 m,
      nav range: 19.098745 m,
      bearing: 89.173821 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.261400 deg/s,
      cmd heading: 89.532845 deg,
      new cmd heading: 89.165568 deg.

2025-08-08T21:36:12.355Z,1754688972.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.556233 target range: 19.799999 and range: 19.80 m.
2025-08-08T21:36:12.469Z,1754688972.469 [DAT](INFO): DAT read: Rx Time:21:36:12.0175 

2025-08-08T21:36:12.470Z,1754688972.470 [DAT](INFO): Rx dataTimestamp_ set to:1754688972.469467
2025-08-08T21:36:12.475Z,1754688972.475 [DAT](INFO): DAT read: Bearing 259.3,   5.0 (Local)

2025-08-08T21:36:12.476Z,1754688972.476 [DAT](INFO): Local bearing/azimuth received:
 Bearing 259.3,   5.0 (Local)

2025-08-08T21:36:12.478Z,1754688972.478 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=23.455824
2025-08-08T21:36:12.718Z,1754688972.718 [DAT](INFO): DAT read: Range 11 to 50 :    19.7 m (trip time 13.1 ms) speed 0.6

2025-08-08T21:36:12.723Z,1754688972.723 [DAT](INFO): DAT read: 21:36:12.0175 LVL= 22944, 29377, 21282, 32755, AGC= 53, IDX= 503, 0.41,-2.651, 1.935,-2.300,-2.854, PHS= 0.305,-1.450, 0.510, RAW= 155.5,   6.9, CAL= 154.9,   7.0, ROT= 355.1,  -7.0

2025-08-08T21:36:12.724Z,1754688972.724 [DAT](INFO): got valid direction response:
 21:36:12.0175 LVL= 22944, 29377, 21282, 32755, AGC= 53, IDX= 503, 0.41,-2.651, 1.935,-2.300,-2.854, PHS= 0.305,-1.450, 0.510, RAW= 155.5,   6.9, CAL= 154.9,   7.0, ROT= 355.1,  -7.0

2025-08-08T21:36:12.724Z,1754688972.724 [DAT](INFO): #Rx 44: Read range and direction messages.
2025-08-08T21:36:12.725Z,1754688972.725 [DAT](INFO): direction in FSK: [0.988919,-0.084780,0.121869]
2025-08-08T21:36:12.725Z,1754688972.725 [DAT](INFO): publishing direction and range info
2025-08-08T21:36:12.729Z,1754688972.729 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=23.706974
2025-08-08T21:36:12.806Z,1754688972.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.700001 m,
      deltaT: 0.735155 s,
      deltaX: -0.099998 m,
      approachRate: -0.136024 m/s,
      rangeRepo size: 4

2025-08-08T21:36:12.813Z,1754688972.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.700001 m,
      bearing: 89.049794 deg,
      lat: 36.906037 deg,
      lon: -122.115843 deg,
      deltaT: 0.735155 s,
      deltaX: -0.099998 m,
      approachRate: -0.136024 m/s,
      posRepo size: 4

2025-08-08T21:36:12.813Z,1754688972.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.70 m.
2025-08-08T21:36:12.822Z,1754688972.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 19.700001 m,
      nav range: 18.830509 m,
      bearing: 89.049794 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.261400 deg/s,
      cmd heading: 89.165565 deg,
      new cmd heading: 88.806780 deg.

2025-08-08T21:36:12.823Z,1754688972.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.549971 target range: 19.700001 and range: 19.70 m.
2025-08-08T21:36:12.984Z,1754688972.984 [DAT](INFO): DAT read: Rx Time:21:36:12.5172 

2025-08-08T21:36:12.986Z,1754688972.986 [DAT](INFO): Rx dataTimestamp_ set to:1754688972.984963
2025-08-08T21:36:12.989Z,1754688972.989 [DAT](INFO): DAT read: Bearing 259.3,   5.0 (Local)

2025-08-08T21:36:12.990Z,1754688972.990 [DAT](INFO): Local bearing/azimuth received:
 Bearing 259.3,   5.0 (Local)

2025-08-08T21:36:12.995Z,1754688972.995 [DAT](INFO): DAT read: Range 11 to 50 :    19.2 m (trip time 12.8 ms) speed 0.6

2025-08-08T21:36:12.997Z,1754688972.997 [DAT](ERROR): #Rx 45: Read range message, but no direction.
2025-08-08T21:36:13.008Z,1754688973.008 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=23.985378
2025-08-08T21:36:13.226Z,1754688973.226 [DAT](INFO): DAT read: 21:36:12.5172 LVL= 22944, 32753, 20450, 32755, AGC= 52, IDX= 500, 0.40, 2.191, 0.512, 2.542, 1.994, PHS= 0.299,-1.437, 0.503, RAW= 155.5,   6.9, CAL= 154.9,   7.1, ROT= 355.1,  -7.1

2025-08-08T21:36:13.227Z,1754688973.227 [DAT](INFO): got valid direction response:
 21:36:12.5172 LVL= 22944, 32753, 20450, 32755, AGC= 52, IDX= 500, 0.40, 2.191, 0.512, 2.542, 1.994, PHS= 0.299,-1.437, 0.503, RAW= 155.5,   6.9, CAL= 154.9,   7.1, ROT= 355.1,  -7.1

2025-08-08T21:36:13.227Z,1754688973.227 [DAT](INFO): #Rx 46: Read direction message, but no range.
2025-08-08T21:36:13.228Z,1754688973.228 [DAT](INFO): direction in FSK: [0.988705,-0.084762,0.123601]
2025-08-08T21:36:13.234Z,1754688973.234 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=24.211630
2025-08-08T21:36:13.422Z,1754688973.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 19.200001 m,
      deltaT: 0.268860 s,
      deltaX: -0.500000 m,
      approachRate: -1.859704 m/s,
      rangeRepo size: 4

2025-08-08T21:36:13.428Z,1754688973.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 19.200001 m,
      bearing: 88.870105 deg,
      lat: 36.906037 deg,
      lon: -122.115844 deg,
      deltaT: 0.268860 s,
      deltaX: -0.500000 m,
      approachRate: -1.859704 m/s,
      posRepo size: 4

2025-08-08T21:36:13.429Z,1754688973.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.20 m.
2025-08-08T21:36:13.436Z,1754688973.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 19.200001 m,
      nav range: 18.383520 m,
      bearing: 88.870105 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.261400 deg/s,
      cmd heading: 88.806782 deg,
      new cmd heading: 88.323813 deg.

2025-08-08T21:36:13.437Z,1754688973.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.541541 target range: 19.200001 and range: 19.20 m.
2025-08-08T21:36:13.477Z,1754688973.477 [DAT](INFO): DAT read: Rx Time:21:36:13.0170 

2025-08-08T21:36:13.479Z,1754688973.479 [DAT](INFO): Rx dataTimestamp_ set to:1754688973.477681
2025-08-08T21:36:13.483Z,1754688973.483 [DAT](INFO): DAT read: Bearing 259.1,   5.1 (Local)

2025-08-08T21:36:13.484Z,1754688973.484 [DAT](INFO): Local bearing/azimuth received:
 Bearing 259.1,   5.1 (Local)

2025-08-08T21:36:13.494Z,1754688973.494 [DAT](INFO): DAT read: Range 11 to 50 :    18.9 m (trip time 12.6 ms) speed 0.5

2025-08-08T21:36:13.505Z,1754688973.505 [DAT](ERROR): #Rx 47: Read range message, but no direction.
2025-08-08T21:36:13.520Z,1754688973.520 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=24.498108
2025-08-08T21:36:13.743Z,1754688973.743 [DAT](INFO): DAT read: 21:36:13.0170 LVL= 23088, 30881, 21522, 32755, AGC= 53, IDX= 498, 0.42, 2.264, 0.569, 2.624, 2.065, PHS= 0.302,-1.451, 0.515, RAW= 155.7,   6.8, CAL= 155.1,   7.0, ROT= 354.9,  -7.0

2025-08-08T21:36:13.744Z,1754688973.744 [DAT](INFO): got valid direction response:
 21:36:13.0170 LVL= 23088, 30881, 21522, 32755, AGC= 53, IDX= 498, 0.42, 2.264, 0.569, 2.624, 2.065, PHS= 0.302,-1.451, 0.515, RAW= 155.7,   6.8, CAL= 155.1,   7.0, ROT= 354.9,  -7.0

2025-08-08T21:36:13.745Z,1754688973.745 [DAT](INFO): #Rx 48: Read direction message, but no range.
2025-08-08T21:36:13.746Z,1754688973.746 [DAT](INFO): direction in FSK: [0.988617,-0.088232,0.121869]
2025-08-08T21:36:13.749Z,1754688973.749 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=24.726883
2025-08-08T21:36:13.781Z,1754688973.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 18.900000 m,
      deltaT: 0.492718 s,
      deltaX: -0.300001 m,
      approachRate: -0.608870 m/s,
      rangeRepo size: 4

2025-08-08T21:36:13.783Z,1754688973.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 18.900000 m,
      bearing: 88.715405 deg,
      lat: 36.906037 deg,
      lon: -122.115846 deg,
      deltaT: 0.492718 s,
      deltaX: -0.300001 m,
      approachRate: -0.608870 m/s,
      posRepo size: 4

2025-08-08T21:36:13.784Z,1754688973.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.90 m.
2025-08-08T21:36:13.786Z,1754688973.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.900000 m,
      nav range: 18.025240 m,
      bearing: 88.715405 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.261400 deg/s,
      cmd heading: 88.323813 deg,
      new cmd heading: 88.042672 deg.

2025-08-08T21:36:13.787Z,1754688973.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.536635 target range: 18.900000 and range: 18.90 m.
2025-08-08T21:36:13.997Z,1754688973.997 [DAT](INFO): DAT read: Rx Time:21:36:13.5167 

2025-08-08T21:36:13.999Z,1754688973.999 [DAT](INFO): Rx dataTimestamp_ set to:1754688973.997882
2025-08-08T21:36:14.003Z,1754688974.003 [DAT](INFO): DAT read: Bearing 259.1,   5.5 (Local)

2025-08-08T21:36:14.004Z,1754688974.004 [DAT](INFO): Local bearing/azimuth received:
 Bearing 259.1,   5.5 (Local)

2025-08-08T21:36:14.010Z,1754688974.010 [DAT](INFO): DAT read: Range 11 to 50 :    18.6 m (trip time 12.4 ms) speed 0.5

2025-08-08T21:36:14.015Z,1754688974.015 [DAT](INFO): DAT read: 21:36:13.5167 LVL= 23104, 32193, 20114, 32755, AGC= 52, IDX= 495, 0.47, 0.625,-1.031, 0.972, 0.431, PHS= 0.296,-1.418, 0.496, RAW= 155.5,   6.9, CAL= 154.9,   7.1, ROT= 355.1,  -7.1

2025-08-08T21:36:14.016Z,1754688974.016 [DAT](INFO): got valid direction response:
 21:36:13.5167 LVL= 23104, 32193, 20114, 32755, AGC= 52, IDX= 495, 0.47, 0.625,-1.031, 0.972, 0.431, PHS= 0.296,-1.418, 0.496, RAW= 155.5,   6.9, CAL= 154.9,   7.1, ROT= 355.1,  -7.1

2025-08-08T21:36:14.034Z,1754688974.034 [DAT](INFO): #Rx 49: Read range and direction messages.
2025-08-08T21:36:14.035Z,1754688974.035 [DAT](INFO): direction in FSK: [0.988705,-0.084762,0.123601]
2025-08-08T21:36:14.035Z,1754688974.035 [DAT](INFO): publishing direction and range info
2025-08-08T21:36:14.083Z,1754688974.083 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=25.060596
2025-08-08T21:36:14.245Z,1754688974.245 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=25.223028
2025-08-08T21:36:14.327Z,1754688974.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 18.600000 m,
      deltaT: 0.520201 s,
      deltaX: -0.299999 m,
      approachRate: -0.576699 m/s,
      rangeRepo size: 4

2025-08-08T21:36:14.342Z,1754688974.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 18.600000 m,
      bearing: 88.551435 deg,
      lat: 36.906037 deg,
      lon: -122.115846 deg,
      deltaT: 0.520201 s,
      deltaX: -0.299999 m,
      approachRate: -0.576699 m/s,
      posRepo size: 4

2025-08-08T21:36:14.343Z,1754688974.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.60 m.
2025-08-08T21:36:14.349Z,1754688974.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.600000 m,
      nav range: 17.663370 m,
      bearing: 88.551435 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.261400 deg/s,
      cmd heading: 88.042675 deg,
      new cmd heading: 87.614134 deg.

2025-08-08T21:36:14.350Z,1754688974.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.529155 target range: 18.600000 and range: 18.60 m.
2025-08-08T21:36:14.501Z,1754688974.501 [DAT](INFO): DAT read: Rx Time:21:36:14.0166 

2025-08-08T21:36:14.502Z,1754688974.502 [DAT](INFO): Rx dataTimestamp_ set to:1754688974.501671
2025-08-08T21:36:14.508Z,1754688974.508 [DAT](INFO): DAT read: Bearing 259.3,   5.5 (Local)

2025-08-08T21:36:14.508Z,1754688974.508 [DAT](INFO): Local bearing/azimuth received:
 Bearing 259.3,   5.5 (Local)

2025-08-08T21:36:14.510Z,1754688974.510 [DAT](INFO): DAT read: Range 11 to 50 :    18.5 m (trip time 12.3 ms) speed 0.5

2025-08-08T21:36:14.515Z,1754688974.515 [DAT](INFO): DAT read: 21:36:14.0166 LVL= 21744, 31969, 18978, 32755, AGC= 52, IDX= 511,-0.49, 0.955,-0.690, 1.301, 0.771, PHS= 0.286,-1.416, 0.486, RAW= 155.5,   7.2, CAL= 154.9,   7.4, ROT= 355.1,  -7.4

2025-08-08T21:36:14.525Z,1754688974.525 [DAT](INFO): got valid direction response:
 21:36:14.0166 LVL= 21744, 31969, 18978, 32755, AGC= 52, IDX= 511,-0.49, 0.955,-0.690, 1.301, 0.771, PHS= 0.286,-1.416, 0.486, RAW= 155.5,   7.2, CAL= 154.9,   7.4, ROT= 355.1,  -7.4

2025-08-08T21:36:14.525Z,1754688974.525 [DAT](INFO): #Rx 50: Read range and direction messages.
2025-08-08T21:36:14.526Z,1754688974.526 [DAT](INFO): direction in FSK: [0.988047,-0.084705,0.128796]
2025-08-08T21:36:14.527Z,1754688974.527 [DAT](INFO): publishing direction and range info
2025-08-08T21:36:14.552Z,1754688974.552 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=25.530249
2025-08-08T21:36:14.724Z,1754688974.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 18.500000 m,
      deltaT: 0.503789 s,
      deltaX: -0.100000 m,
      approachRate: -0.198497 m/s,
      rangeRepo size: 4

2025-08-08T21:36:14.726Z,1754688974.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 18.500000 m,
      bearing: 88.420829 deg,
      lat: 36.906037 deg,
      lon: -122.115846 deg,
      deltaT: 0.503789 s,
      deltaX: -0.100000 m,
      approachRate: -0.198497 m/s,
      posRepo size: 4

2025-08-08T21:36:14.727Z,1754688974.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.50 m.
2025-08-08T21:36:14.734Z,1754688974.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.500000 m,
      nav range: 17.461103 m,
      bearing: 88.420829 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.261400 deg/s,
      cmd heading: 87.614135 deg,
      new cmd heading: 87.306004 deg.

2025-08-08T21:36:14.735Z,1754688974.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.523777 target range: 18.500000 and range: 18.50 m.
2025-08-08T21:36:14.749Z,1754688974.749 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=25.727388
2025-08-08T21:36:15.005Z,1754688975.005 [DAT](INFO): DAT read: Rx Time:21:36:14.5164 

2025-08-08T21:36:15.006Z,1754688975.006 [DAT](INFO): Rx dataTimestamp_ set to:1754688975.005655
2025-08-08T21:36:15.009Z,1754688975.009 [DAT](INFO): DAT read: Bearing 259.0,   5.6 (Local)

2025-08-08T21:36:15.010Z,1754688975.010 [DAT](INFO): Local bearing/azimuth received:
 Bearing 259.0,   5.6 (Local)

2025-08-08T21:36:15.012Z,1754688975.012 [DAT](INFO): DAT read: Range 11 to 50 :    18.0 m (trip time 12.0 ms) speed 0.5

2025-08-08T21:36:15.025Z,1754688975.025 [DAT](INFO): DAT read: 21:36:14.5164 LVL= 24272, 32753, 19762, 32755, AGC= 53, IDX= 508,-0.48, 0.449,-1.196, 0.799, 0.265, PHS= 0.286,-1.415, 0.491, RAW= 155.6,   7.1, CAL= 155.0,   7.3, ROT= 355.0,  -7.3

2025-08-08T21:36:15.027Z,1754688975.027 [DAT](INFO): got valid direction response:
 21:36:14.5164 LVL= 24272, 32753, 19762, 32755, AGC= 53, IDX= 508,-0.48, 0.449,-1.196, 0.799, 0.265, PHS= 0.286,-1.415, 0.491, RAW= 155.6,   7.1, CAL= 155.0,   7.3, ROT= 355.0,  -7.3

2025-08-08T21:36:15.027Z,1754688975.027 [DAT](INFO): #Rx 51: Read range and direction messages.
2025-08-08T21:36:15.032Z,1754688975.032 [DAT](INFO): direction in FSK: [0.988120,-0.086449,0.127065]
2025-08-08T21:36:15.032Z,1754688975.032 [DAT](INFO): publishing direction and range info
2025-08-08T21:36:15.044Z,1754688975.044 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=26.013792
2025-08-08T21:36:15.253Z,1754688975.253 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=26.231266
2025-08-08T21:36:15.299Z,1754688975.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 18.000000 m,
      deltaT: 0.503984 s,
      deltaX: -0.500000 m,
      approachRate: -0.992095 m/s,
      rangeRepo size: 4

2025-08-08T21:36:15.306Z,1754688975.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 18.000000 m,
      bearing: 88.298836 deg,
      lat: 36.906036 deg,
      lon: -122.115846 deg,
      deltaT: 0.503984 s,
      deltaX: -0.500000 m,
      approachRate: -0.992095 m/s,
      posRepo size: 4

2025-08-08T21:36:15.306Z,1754688975.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.00 m.
2025-08-08T21:36:15.313Z,1754688975.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 18.000000 m,
      nav range: 17.061123 m,
      bearing: 88.298836 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.261400 deg/s,
      cmd heading: 87.306005 deg,
      new cmd heading: 86.852299 deg.

2025-08-08T21:36:15.314Z,1754688975.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.515859 target range: 18.000000 and range: 18.00 m.
2025-08-08T21:36:15.509Z,1754688975.509 [DAT](INFO): DAT read: Rx Time:21:36:15.0163 

2025-08-08T21:36:15.509Z,1754688975.509 [DAT](INFO): Rx dataTimestamp_ set to:1754688975.508821
2025-08-08T21:36:15.510Z,1754688975.510 [DAT](INFO): DAT read: Bearing 259.0,   5.9 (Local)

2025-08-08T21:36:15.511Z,1754688975.511 [DAT](INFO): Local bearing/azimuth received:
 Bearing 259.0,   5.9 (Local)

2025-08-08T21:36:15.513Z,1754688975.513 [DAT](INFO): DAT read: Range 11 to 50 :    17.9 m (trip time 11.9 ms) speed 0.5

2025-08-08T21:36:15.518Z,1754688975.518 [DAT](INFO): DAT read: 21:36:15.0163 LVL= 23104, 32161, 19618, 32755, AGC= 53, IDX= 507,-0.44, 1.814, 0.167, 2.159, 1.631, PHS= 0.286,-1.418, 0.484, RAW= 155.4,   7.2, CAL= 154.9,   7.4, ROT= 355.1,  -7.4

2025-08-08T21:36:15.519Z,1754688975.519 [DAT](INFO): got valid direction response:
 21:36:15.0163 LVL= 23104, 32161, 19618, 32755, AGC= 53, IDX= 507,-0.44, 1.814, 0.167, 2.159, 1.631, PHS= 0.286,-1.418, 0.484, RAW= 155.4,   7.2, CAL= 154.9,   7.4, ROT= 355.1,  -7.4

2025-08-08T21:36:15.520Z,1754688975.520 [DAT](INFO): #Rx 52: Read range and direction messages.
2025-08-08T21:36:15.521Z,1754688975.521 [DAT](INFO): direction in FSK: [0.988047,-0.084705,0.128796]
2025-08-08T21:36:15.521Z,1754688975.521 [DAT](INFO): publishing direction and range info
2025-08-08T21:36:15.525Z,1754688975.525 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=26.502766
2025-08-08T21:36:15.757Z,1754688975.757 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=26.735369
2025-08-08T21:36:15.870Z,1754688975.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.900000 m,
      deltaT: 0.503166 s,
      deltaX: -0.100000 m,
      approachRate: -0.198742 m/s,
      rangeRepo size: 4

2025-08-08T21:36:15.872Z,1754688975.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 17.900000 m,
      bearing: 88.137955 deg,
      lat: 36.906036 deg,
      lon: -122.115846 deg,
      deltaT: 0.503166 s,
      deltaX: -0.100000 m,
      approachRate: -0.198742 m/s,
      posRepo size: 4

2025-08-08T21:36:15.873Z,1754688975.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m.
2025-08-08T21:36:15.875Z,1754688975.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 17.900000 m,
      nav range: 16.723164 m,
      bearing: 88.137955 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.261400 deg/s,
      cmd heading: 86.852296 deg,
      new cmd heading: 86.404261 deg.

2025-08-08T21:36:15.877Z,1754688975.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.508039 target range: 17.900000 and range: 17.90 m.
2025-08-08T21:36:16.010Z,1754688976.010 [DAT](INFO): DAT read: Rx Time:21:36:15.5161 

2025-08-08T21:36:16.011Z,1754688976.011 [DAT](INFO): Rx dataTimestamp_ set to:1754688976.010683
2025-08-08T21:36:16.013Z,1754688976.013 [DAT](INFO): DAT read: Bearing 258.6,   6.2 (Local)

2025-08-08T21:36:16.013Z,1754688976.013 [DAT](INFO): Local bearing/azimuth received:
 Bearing 258.6,   6.2 (Local)

2025-08-08T21:36:16.015Z,1754688976.015 [DAT](INFO): DAT read: Range 11 to 50 :    17.6 m (trip time 11.7 ms) speed 0.5

2025-08-08T21:36:16.024Z,1754688976.024 [DAT](INFO): DAT read: 21:36:15.5161 LVL= 23104, 32721, 19266, 32755, AGC= 53, IDX= 504,-0.35, 0.898,-0.758, 1.243, 0.710, PHS= 0.289,-1.424, 0.489, RAW= 155.4,   7.1, CAL= 154.9,   7.4, ROT= 355.1,  -7.4

2025-08-08T21:36:16.025Z,1754688976.025 [DAT](INFO): got valid direction response:
 21:36:15.5161 LVL= 23104, 32721, 19266, 32755, AGC= 53, IDX= 504,-0.35, 0.898,-0.758, 1.243, 0.710, PHS= 0.289,-1.424, 0.489, RAW= 155.4,   7.1, CAL= 154.9,   7.4, ROT= 355.1,  -7.4

2025-08-08T21:36:16.026Z,1754688976.026 [DAT](INFO): #Rx 53: Read range and direction messages.
2025-08-08T21:36:16.027Z,1754688976.027 [DAT](INFO): direction in FSK: [0.988047,-0.084705,0.128796]
2025-08-08T21:36:16.027Z,1754688976.027 [DAT](INFO): publishing direction and range info
2025-08-08T21:36:16.030Z,1754688976.030 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=27.008224
2025-08-08T21:36:16.261Z,1754688976.261 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=27.239002
2025-08-08T21:36:16.415Z,1754688976.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.600000 m,
      deltaT: 0.501862 s,
      deltaX: -0.299999 m,
      approachRate: -0.597772 m/s,
      rangeRepo size: 4

2025-08-08T21:36:16.433Z,1754688976.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 17.600000 m,
      bearing: 87.962648 deg,
      lat: 36.906036 deg,
      lon: -122.115846 deg,
      deltaT: 0.501862 s,
      deltaX: -0.299999 m,
      approachRate: -0.597772 m/s,
      posRepo size: 4

2025-08-08T21:36:16.434Z,1754688976.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.60 m.
2025-08-08T21:36:16.441Z,1754688976.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 17.600000 m,
      nav range: 16.461905 m,
      bearing: 87.962648 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.261400 deg/s,
      cmd heading: 86.404263 deg,
      new cmd heading: 85.977097 deg.

2025-08-08T21:36:16.442Z,1754688976.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.500583 target range: 17.600000 and range: 17.60 m.
2025-08-08T21:36:16.513Z,1754688976.513 [DAT](INFO): DAT read: Rx Time:21:36:16.0159 

2025-08-08T21:36:16.514Z,1754688976.514 [DAT](INFO): Rx dataTimestamp_ set to:1754688976.513679
2025-08-08T21:36:16.515Z,1754688976.515 [DAT](INFO): DAT read: Bearing 258.4,   6.4 (Local)

2025-08-08T21:36:16.516Z,1754688976.516 [DAT](INFO): Local bearing/azimuth received:
 Bearing 258.4,   6.4 (Local)

2025-08-08T21:36:16.518Z,1754688976.518 [DAT](INFO): DAT read: Range 11 to 50 :    17.3 m (trip time 11.5 ms) speed 0.5

2025-08-08T21:36:16.522Z,1754688976.522 [DAT](INFO): DAT read: 21:36:16.0159 LVL= 26096, 32753, 22322, 32755, AGC= 54, IDX= 502,-0.28, 1.163,-0.523, 1.508, 0.972, PHS= 0.293,-1.450, 0.493, RAW= 155.4,   7.2, CAL= 154.8,   7.5, ROT= 355.2,  -7.5

2025-08-08T21:36:16.523Z,1754688976.523 [DAT](INFO): got valid direction response:
 21:36:16.0159 LVL= 26096, 32753, 22322, 32755, AGC= 54, IDX= 502,-0.28, 1.163,-0.523, 1.508, 0.972, PHS= 0.293,-1.450, 0.493, RAW= 155.4,   7.2, CAL= 154.8,   7.5, ROT= 355.2,  -7.5

2025-08-08T21:36:16.524Z,1754688976.524 [DAT](INFO): #Rx 54: Read range and direction messages.
2025-08-08T21:36:16.525Z,1754688976.525 [DAT](INFO): direction in FSK: [0.987968,-0.082962,0.130526]
2025-08-08T21:36:16.525Z,1754688976.525 [DAT](INFO): publishing direction and range info
2025-08-08T21:36:16.529Z,1754688976.529 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=27.506775
2025-08-08T21:36:16.765Z,1754688976.765 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=27.742933
2025-08-08T21:36:16.815Z,1754688976.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 17.299999 m,
      deltaT: 0.502996 s,
      deltaX: -0.300001 m,
      approachRate: -0.596429 m/s,
      rangeRepo size: 4

2025-08-08T21:36:16.829Z,1754688976.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 17.299999 m,
      bearing: 87.806565 deg,
      lat: 36.906036 deg,
      lon: -122.115845 deg,
      deltaT: 0.502996 s,
      deltaX: -0.300001 m,
      approachRate: -0.596429 m/s,
      posRepo size: 4

2025-08-08T21:36:16.830Z,1754688976.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.30 m.
2025-08-08T21:36:16.838Z,1754688976.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 17.299999 m,
      nav range: 16.263371 m,
      bearing: 87.806565 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.261400 deg/s,
      cmd heading: 85.977096 deg,
      new cmd heading: 85.663305 deg.

2025-08-08T21:36:16.844Z,1754688976.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.495107 target range: 17.299999 and range: 17.30 m.
2025-08-08T21:36:17.018Z,1754688977.018 [DAT](INFO): DAT read: Rx Time:21:36:16.5156 

2025-08-08T21:36:17.018Z,1754688977.018 [DAT](INFO): Rx dataTimestamp_ set to:1754688977.017812
2025-08-08T21:36:17.019Z,1754688977.019 [DAT](INFO): DAT read: Bearing 258.1,   6.7 (Local)

2025-08-08T21:36:17.020Z,1754688977.020 [DAT](INFO): Local bearing/azimuth received:
 Bearing 258.1,   6.7 (Local)

2025-08-08T21:36:17.022Z,1754688977.022 [DAT](INFO): DAT read: Range 11 to 50 :    16.8 m (trip time 11.2 ms) speed 0.5

2025-08-08T21:36:17.027Z,1754688977.027 [DAT](INFO): DAT read: 21:36:16.5156 LVL= 26272, 31121, 21842, 32755, AGC= 54, IDX= 499,-0.21, 0.177,-1.509, 0.520,-0.017, PHS= 0.296,-1.448, 0.492, RAW= 155.3,   7.2, CAL= 154.7,   7.4, ROT= 355.3,  -7.4

2025-08-08T21:36:17.028Z,1754688977.028 [DAT](INFO): got valid direction response:
 21:36:16.5156 LVL= 26272, 31121, 21842, 32755, AGC= 54, IDX= 499,-0.21, 0.177,-1.509, 0.520,-0.017, PHS= 0.296,-1.448, 0.492, RAW= 155.3,   7.2, CAL= 154.7,   7.4, ROT= 355.3,  -7.4

2025-08-08T21:36:17.028Z,1754688977.028 [DAT](INFO): #Rx 55: Read range and direction messages.
2025-08-08T21:36:17.029Z,1754688977.029 [DAT](INFO): direction in FSK: [0.988337,-0.081256,0.128796]
2025-08-08T21:36:17.029Z,1754688977.029 [DAT](INFO): publishing direction and range info
2025-08-08T21:36:17.033Z,1754688977.033 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=28.011173
2025-08-08T21:36:17.269Z,1754688977.269 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=28.247017
2025-08-08T21:36:17.271Z,1754688977.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.799999 m,
      deltaT: 0.504133 s,
      deltaX: -0.500000 m,
      approachRate: -0.991802 m/s,
      rangeRepo size: 4

2025-08-08T21:36:17.275Z,1754688977.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.799999 m,
      bearing: 87.673186 deg,
      lat: 36.906036 deg,
      lon: -122.115845 deg,
      deltaT: 0.504133 s,
      deltaX: -0.500000 m,
      approachRate: -0.991802 m/s,
      posRepo size: 4

2025-08-08T21:36:17.275Z,1754688977.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.80 m.
2025-08-08T21:36:17.287Z,1754688977.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 16.799999 m,
      nav range: 16.019161 m,
      bearing: 87.673186 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.261400 deg/s,
      cmd heading: 85.663304 deg,
      new cmd heading: 85.305118 deg.

2025-08-08T21:36:17.292Z,1754688977.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.488855 target range: 16.799999 and range: 16.80 m.
2025-08-08T21:36:17.527Z,1754688977.527 [DAT](INFO): DAT read: Rx Time:21:36:17.0155 

2025-08-08T21:36:17.527Z,1754688977.527 [DAT](INFO): Rx dataTimestamp_ set to:1754688977.526764
2025-08-08T21:36:17.534Z,1754688977.534 [DAT](INFO): DAT read: Bearing 258.0,   7.2 (Local)

2025-08-08T21:36:17.534Z,1754688977.534 [DAT](INFO): Local bearing/azimuth received:
 Bearing 258.0,   7.2 (Local)

2025-08-08T21:36:17.537Z,1754688977.537 [DAT](INFO): DAT read: Range 11 to 50 :    16.7 m (trip time 11.1 ms) speed 0.5

2025-08-08T21:36:17.547Z,1754688977.547 [DAT](INFO): DAT read: 21:36:17.0155 LVL= 24416, 32753, 20530, 32755, AGC= 52, IDX= 498,-0.17, 1.192,-0.466, 1.515, 0.998, PHS= 0.295,-1.419, 0.472, RAW= 154.9,   7.3, CAL= 154.3,   7.5, ROT= 355.7,  -7.5

2025-08-08T21:36:17.548Z,1754688977.548 [DAT](INFO): got valid direction response:
 21:36:17.0155 LVL= 24416, 32753, 20530, 32755, AGC= 52, IDX= 498,-0.17, 1.192,-0.466, 1.515, 0.998, PHS= 0.295,-1.419, 0.472, RAW= 154.9,   7.3, CAL= 154.3,   7.5, ROT= 355.7,  -7.5

2025-08-08T21:36:17.548Z,1754688977.548 [DAT](INFO): #Rx 56: Read range and direction messages.
2025-08-08T21:36:17.549Z,1754688977.549 [DAT](INFO): direction in FSK: [0.988654,-0.074337,0.130526]
2025-08-08T21:36:17.549Z,1754688977.549 [DAT](INFO): publishing direction and range info
2025-08-08T21:36:17.577Z,1754688977.577 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=28.555004
2025-08-08T21:36:17.715Z,1754688977.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.700001 m,
      deltaT: 0.508952 s,
      deltaX: -0.099998 m,
      approachRate: -0.196479 m/s,
      rangeRepo size: 4

2025-08-08T21:36:17.717Z,1754688977.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.700001 m,
      bearing: 87.543736 deg,
      lat: 36.906036 deg,
      lon: -122.115845 deg,
      deltaT: 0.508952 s,
      deltaX: -0.099998 m,
      approachRate: -0.196479 m/s,
      posRepo size: 4

2025-08-08T21:36:17.718Z,1754688977.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.70 m.
2025-08-08T21:36:17.721Z,1754688977.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 16.700001 m,
      nav range: 15.693401 m,
      bearing: 87.543736 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.261400 deg/s,
      cmd heading: 85.305115 deg,
      new cmd heading: 84.957486 deg.

2025-08-08T21:36:17.722Z,1754688977.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.482788 target range: 16.700001 and range: 16.70 m.
2025-08-08T21:36:17.774Z,1754688977.774 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=28.751747
2025-08-08T21:36:18.027Z,1754688978.027 [DAT](INFO): DAT read: Rx Time:21:36:17.5152 

2025-08-08T21:36:18.028Z,1754688978.028 [DAT](INFO): Rx dataTimestamp_ set to:1754688978.027377
2025-08-08T21:36:18.029Z,1754688978.029 [DAT](INFO): DAT read: Bearing 257.4,   7.5 (Local)

2025-08-08T21:36:18.029Z,1754688978.029 [DAT](INFO): Local bearing/azimuth received:
 Bearing 257.4,   7.5 (Local)

2025-08-08T21:36:18.031Z,1754688978.031 [DAT](INFO): DAT read: Range 11 to 50 :    16.2 m (trip time 10.8 ms) speed 0.5

2025-08-08T21:36:18.036Z,1754688978.036 [DAT](INFO): DAT read: 21:36:17.5152 LVL= 23456, 28721, 20546, 32755, AGC= 52, IDX= 495,-0.18, 0.158,-1.517, 0.483,-0.045, PHS= 0.305,-1.427, 0.483, RAW= 154.8,   7.0, CAL= 154.3,   7.3, ROT= 355.7,  -7.3

2025-08-08T21:36:18.037Z,1754688978.037 [DAT](INFO): got valid direction response:
 21:36:17.5152 LVL= 23456, 28721, 20546, 32755, AGC= 52, IDX= 495,-0.18, 0.158,-1.517, 0.483,-0.045, PHS= 0.305,-1.427, 0.483, RAW= 154.8,   7.0, CAL= 154.3,   7.3, ROT= 355.7,  -7.3

2025-08-08T21:36:18.038Z,1754688978.038 [DAT](INFO): #Rx 57: Read range and direction messages.
2025-08-08T21:36:18.038Z,1754688978.038 [DAT](INFO): direction in FSK: [0.989102,-0.074371,0.127065]
2025-08-08T21:36:18.039Z,1754688978.039 [DAT](INFO): publishing direction and range info
2025-08-08T21:36:18.043Z,1754688978.043 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=29.020536
2025-08-08T21:36:18.277Z,1754688978.277 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=29.254984
2025-08-08T21:36:18.304Z,1754688978.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.200001 m,
      deltaT: 0.500613 s,
      deltaX: -0.500000 m,
      approachRate: -0.998775 m/s,
      rangeRepo size: 4

2025-08-08T21:36:18.306Z,1754688978.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.200001 m,
      bearing: 87.360739 deg,
      lat: 36.906036 deg,
      lon: -122.115845 deg,
      deltaT: 0.500613 s,
      deltaX: -0.500000 m,
      approachRate: -0.998775 m/s,
      posRepo size: 4

2025-08-08T21:36:18.307Z,1754688978.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.20 m.
2025-08-08T21:36:18.314Z,1754688978.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 16.200001 m,
      nav range: 15.298608 m,
      bearing: 87.360739 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.261400 deg/s,
      cmd heading: 84.957486 deg,
      new cmd heading: 84.501995 deg.

2025-08-08T21:36:18.315Z,1754688978.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.474838 target range: 16.200001 and range: 16.20 m.
2025-08-08T21:36:18.529Z,1754688978.529 [DAT](INFO): DAT read: Rx Time:21:36:18.0151 

2025-08-08T21:36:18.530Z,1754688978.530 [DAT](INFO): Rx dataTimestamp_ set to:1754688978.529597
2025-08-08T21:36:18.531Z,1754688978.531 [DAT](INFO): DAT read: Bearing 257.0,   7.7 (Local)

2025-08-08T21:36:18.531Z,1754688978.531 [DAT](INFO): Local bearing/azimuth received:
 Bearing 257.0,   7.7 (Local)

2025-08-08T21:36:18.534Z,1754688978.534 [DAT](INFO): DAT read: Range 11 to 50 :    16.1 m (trip time 10.7 ms) speed 0.5

2025-08-08T21:36:18.539Z,1754688978.539 [DAT](INFO): DAT read: 21:36:18.0151 LVL= 26608, 28145, 22834, 32755, AGC= 54, IDX= 510,-0.23, 1.749, 0.044, 2.074, 1.539, PHS= 0.311,-1.451, 0.491, RAW= 154.8,   7.0, CAL= 154.2,   7.2, ROT= 355.8,  -7.2

2025-08-08T21:36:18.540Z,1754688978.540 [DAT](INFO): got valid direction response:
 21:36:18.0151 LVL= 26608, 28145, 22834, 32755, AGC= 54, IDX= 510,-0.23, 1.749, 0.044, 2.074, 1.539, PHS= 0.311,-1.451, 0.491, RAW= 154.8,   7.0, CAL= 154.2,   7.2, ROT= 355.8,  -7.2

2025-08-08T21:36:18.541Z,1754688978.541 [DAT](INFO): #Rx 58: Read range and direction messages.
2025-08-08T21:36:18.542Z,1754688978.542 [DAT](INFO): direction in FSK: [0.989450,-0.072661,0.125333]
2025-08-08T21:36:18.542Z,1754688978.542 [DAT](INFO): publishing direction and range info
2025-08-08T21:36:18.545Z,1754688978.545 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=29.523245
2025-08-08T21:36:18.781Z,1754688978.781 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=29.759041
2025-08-08T21:36:18.787Z,1754688978.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 16.100000 m,
      deltaT: 0.502220 s,
      deltaX: -0.100000 m,
      approachRate: -0.199117 m/s,
      rangeRepo size: 4

2025-08-08T21:36:18.793Z,1754688978.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 16.100000 m,
      bearing: 87.211688 deg,
      lat: 36.906036 deg,
      lon: -122.115845 deg,
      deltaT: 0.502220 s,
      deltaX: -0.100000 m,
      approachRate: -0.199117 m/s,
      posRepo size: 4

2025-08-08T21:36:18.794Z,1754688978.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.10 m.
2025-08-08T21:36:18.801Z,1754688978.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 16.100000 m,
      nav range: 14.985801 m,
      bearing: 87.211688 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.261400 deg/s,
      cmd heading: 84.501994 deg,
      new cmd heading: 84.116675 deg.

2025-08-08T21:36:18.802Z,1754688978.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.468113 target range: 16.100000 and range: 16.10 m.
2025-08-08T21:36:19.035Z,1754688979.035 [DAT](INFO): DAT read: Rx Time:21:36:18.5148 

2025-08-08T21:36:19.036Z,1754688979.036 [DAT](INFO): Rx dataTimestamp_ set to:1754688979.035380
2025-08-08T21:36:19.038Z,1754688979.038 [DAT](INFO): DAT read: Bearing 256.5,   8.2 (Local)

2025-08-08T21:36:19.038Z,1754688979.038 [DAT](INFO): Local bearing/azimuth received:
 Bearing 256.5,   8.2 (Local)

2025-08-08T21:36:19.042Z,1754688979.042 [DAT](INFO): DAT read: Range 11 to 50 :    15.6 m (trip time 10.4 ms) speed 0.6

2025-08-08T21:36:19.068Z,1754688979.068 [DAT](INFO): DAT read: 21:36:18.5148 LVL= 25920, 29505, 21026, 32755, AGC= 53, IDX= 507,-0.34, 1.201,-0.501, 1.515, 0.986, PHS= 0.317,-1.442, 0.485, RAW= 154.5,   7.0, CAL= 153.9,   7.2, ROT= 356.1,  -7.2

2025-08-08T21:36:19.070Z,1754688979.070 [DAT](INFO): got valid direction response:
 21:36:18.5148 LVL= 25920, 29505, 21026, 32755, AGC= 53, IDX= 507,-0.34, 1.201,-0.501, 1.515, 0.986, PHS= 0.317,-1.442, 0.485, RAW= 154.5,   7.0, CAL= 153.9,   7.2, ROT= 356.1,  -7.2

2025-08-08T21:36:19.071Z,1754688979.071 [DAT](INFO): #Rx 59: Read range and direction messages.
2025-08-08T21:36:19.076Z,1754688979.076 [DAT](INFO): direction in FSK: [0.989817,-0.067479,0.125333]
2025-08-08T21:36:19.076Z,1754688979.076 [DAT](INFO): publishing direction and range info
2025-08-08T21:36:19.088Z,1754688979.088 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=30.057804
2025-08-08T21:36:19.198Z,1754688979.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.600000 m,
      deltaT: 0.505783 s,
      deltaX: -0.500000 m,
      approachRate: -0.988566 m/s,
      rangeRepo size: 4

2025-08-08T21:36:19.204Z,1754688979.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.600000 m,
      bearing: 87.067043 deg,
      lat: 36.906036 deg,
      lon: -122.115847 deg,
      deltaT: 0.505783 s,
      deltaX: -0.500000 m,
      approachRate: -0.988566 m/s,
      posRepo size: 4

2025-08-08T21:36:19.205Z,1754688979.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.60 m.
2025-08-08T21:36:19.207Z,1754688979.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 15.600000 m,
      nav range: 14.616478 m,
      bearing: 87.067043 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.261400 deg/s,
      cmd heading: 84.116676 deg,
      new cmd heading: 83.794719 deg.

2025-08-08T21:36:19.212Z,1754688979.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.462494 target range: 15.600000 and range: 15.60 m.
2025-08-08T21:36:19.288Z,1754688979.288 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=30.265162
2025-08-08T21:36:19.540Z,1754688979.540 [DAT](INFO): DAT read: Rx Time:21:36:19.0146 

2025-08-08T21:36:19.541Z,1754688979.541 [DAT](INFO): Rx dataTimestamp_ set to:1754688979.540475
2025-08-08T21:36:19.542Z,1754688979.542 [DAT](INFO): DAT read: Bearing 255.8,   8.9 (Local)

2025-08-08T21:36:19.543Z,1754688979.543 [DAT](INFO): Local bearing/azimuth received:
 Bearing 255.8,   8.9 (Local)

2025-08-08T21:36:19.546Z,1754688979.546 [DAT](INFO): DAT read: Range 11 to 50 :    15.3 m (trip time 10.2 ms) speed 0.6

2025-08-08T21:36:19.551Z,1754688979.551 [DAT](INFO): DAT read: 21:36:19.0146 LVL= 22000, 29105, 19906, 32755, AGC= 52, IDX= 505, 0.46,-2.495, 2.085,-2.197,-2.729, PHS= 0.336,-1.424, 0.489, RAW= 154.1,   6.6, CAL= 153.5,   6.7, ROT= 356.5,  -6.7

2025-08-08T21:36:19.552Z,1754688979.552 [DAT](INFO): got valid direction response:
 21:36:19.0146 LVL= 22000, 29105, 19906, 32755, AGC= 52, IDX= 505, 0.46,-2.495, 2.085,-2.197,-2.729, PHS= 0.336,-1.424, 0.489, RAW= 154.1,   6.6, CAL= 153.5,   6.7, ROT= 356.5,  -6.7

2025-08-08T21:36:19.552Z,1754688979.552 [DAT](INFO): #Rx 60: Read range and direction messages.
2025-08-08T21:36:19.553Z,1754688979.553 [DAT](INFO): direction in FSK: [0.991318,-0.060632,0.116671]
2025-08-08T21:36:19.554Z,1754688979.554 [DAT](INFO): publishing direction and range info
2025-08-08T21:36:19.557Z,1754688979.557 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=30.535213
2025-08-08T21:36:19.729Z,1754688979.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 15.300000 m,
      deltaT: 0.505095 s,
      deltaX: -0.300000 m,
      approachRate: -0.593948 m/s,
      rangeRepo size: 4

2025-08-08T21:36:19.731Z,1754688979.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 15.300000 m,
      bearing: 87.009474 deg,
      lat: 36.906036 deg,
      lon: -122.115845 deg,
      deltaT: 0.505095 s,
      deltaX: -0.300000 m,
      approachRate: -0.593948 m/s,
      posRepo size: 4

2025-08-08T21:36:19.736Z,1754688979.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.30 m.
2025-08-08T21:36:19.738Z,1754688979.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 15.300000 m,
      nav range: 14.370387 m,
      bearing: 87.009474 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.261400 deg/s,
      cmd heading: 83.794721 deg,
      new cmd heading: 83.381366 deg.

2025-08-08T21:36:19.739Z,1754688979.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.455279 target range: 15.300000 and range: 15.30 m.
2025-08-08T21:36:19.790Z,1754688979.790 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=30.767857
2025-08-08T21:36:20.041Z,1754688980.041 [DAT](INFO): DAT read: Rx Time:21:36:19.5143 

2025-08-08T21:36:20.042Z,1754688980.042 [DAT](INFO): Rx dataTimestamp_ set to:1754688980.041625
2025-08-08T21:36:20.043Z,1754688980.043 [DAT](INFO): DAT read: Bearing 255.2,   9.4 (Local)

2025-08-08T21:36:20.043Z,1754688980.043 [DAT](INFO): Local bearing/azimuth received:
 Bearing 255.2,   9.4 (Local)

2025-08-08T21:36:20.046Z,1754688980.046 [DAT](INFO): DAT read: Range 11 to 50 :    14.9 m (trip time 9.9 ms) speed 0.6

2025-08-08T21:36:20.050Z,1754688980.050 [DAT](INFO): DAT read: 21:36:19.5143 LVL= 23904, 32561, 22258, 32755, AGC= 51, IDX= 502, 0.23,-2.705, 1.869,-2.417,-2.950, PHS= 0.347,-1.418, 0.489, RAW= 153.8,   6.4, CAL= 153.2,   6.5, ROT= 356.8,  -6.5

2025-08-08T21:36:20.051Z,1754688980.051 [DAT](INFO): got valid direction response:
 21:36:19.5143 LVL= 23904, 32561, 22258, 32755, AGC= 51, IDX= 502, 0.23,-2.705, 1.869,-2.417,-2.950, PHS= 0.347,-1.418, 0.489, RAW= 153.8,   6.4, CAL= 153.2,   6.5, ROT= 356.8,  -6.5

2025-08-08T21:36:20.052Z,1754688980.052 [DAT](INFO): #Rx 61: Read range and direction messages.
2025-08-08T21:36:20.053Z,1754688980.053 [DAT](INFO): direction in FSK: [0.992023,-0.055463,0.113203]
2025-08-08T21:36:20.053Z,1754688980.053 [DAT](INFO): publishing direction and range info
2025-08-08T21:36:20.057Z,1754688980.057 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=31.034620
2025-08-08T21:36:20.129Z,1754688980.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.900000 m,
      deltaT: 0.501150 s,
      deltaX: -0.400001 m,
      approachRate: -0.798165 m/s,
      rangeRepo size: 4

2025-08-08T21:36:20.132Z,1754688980.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 14.900000 m,
      bearing: 86.965167 deg,
      lat: 36.906036 deg,
      lon: -122.115847 deg,
      deltaT: 0.501150 s,
      deltaX: -0.400001 m,
      approachRate: -0.798165 m/s,
      posRepo size: 4

2025-08-08T21:36:20.145Z,1754688980.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.90 m.
2025-08-08T21:36:20.148Z,1754688980.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 14.900000 m,
      nav range: 13.999394 m,
      bearing: 86.965167 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.261400 deg/s,
      cmd heading: 83.381365 deg,
      new cmd heading: 83.063900 deg.

2025-08-08T21:36:20.149Z,1754688980.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.449739 target range: 14.900000 and range: 14.90 m.
2025-08-08T21:36:20.297Z,1754688980.297 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=31.274511
2025-08-08T21:36:20.543Z,1754688980.543 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-08T21:36:20.546Z,1754688980.546 [DAT](INFO): DAT read: Rx Time:21:36:20.0141 

2025-08-08T21:36:20.546Z,1754688980.546 [DAT](INFO): Rx dataTimestamp_ set to:1754688980.545759
2025-08-08T21:36:20.547Z,1754688980.547 [DAT](INFO): DAT read: Bearing 254.8,   9.7 (Local)

2025-08-08T21:36:20.548Z,1754688980.548 [DAT](INFO): Local bearing/azimuth received:
 Bearing 254.8,   9.7 (Local)

2025-08-08T21:36:20.550Z,1754688980.550 [DAT](INFO): DAT read: Range 11 to 50 :    14.6 m (trip time 9.7 ms) speed 0.6

2025-08-08T21:36:20.554Z,1754688980.554 [DAT](INFO): DAT read: 21:36:20.0141 LVL= 22784, 30193, 20338, 32755, AGC= 52, IDX= 500, 0.05,-2.956, 1.596,-2.670, 3.077, PHS= 0.353,-1.436, 0.492, RAW= 153.7,   6.4, CAL= 153.0,   6.5, ROT= 357.0,  -6.5

2025-08-08T21:36:20.556Z,1754688980.556 [DAT](INFO): got valid direction response:
 21:36:20.0141 LVL= 22784, 30193, 20338, 32755, AGC= 52, IDX= 500, 0.05,-2.956, 1.596,-2.670, 3.077, PHS= 0.353,-1.436, 0.492, RAW= 153.7,   6.4, CAL= 153.0,   6.5, ROT= 357.0,  -6.5

2025-08-08T21:36:20.556Z,1754688980.556 [DAT](INFO): #Rx 62: Read range and direction messages.
2025-08-08T21:36:20.557Z,1754688980.557 [DAT](INFO): direction in FSK: [0.992210,-0.052000,0.113203]
2025-08-08T21:36:20.557Z,1754688980.557 [DAT](INFO): publishing direction and range info
2025-08-08T21:36:20.562Z,1754688980.562 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=31.539564
2025-08-08T21:36:20.567Z,1754688980.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.600000 m,
      deltaT: 0.504134 s,
      deltaX: -0.299999 m,
      approachRate: -0.595078 m/s,
      rangeRepo size: 4

2025-08-08T21:36:20.567Z,1754688980.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.90 m.
2025-08-08T21:36:20.574Z,1754688980.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 14.900000 m,
      nav range: 13.722892 m,
      bearing: 86.857305 deg,
      approach rate: -0.632380 m/s,
      LOS rate: -0.251657 deg/s,
      cmd heading: 83.063898 deg,
      new cmd heading: 82.733797 deg.

2025-08-08T21:36:20.575Z,1754688980.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.443977 target range: 14.900000 and range: 14.60 m.
2025-08-08T21:36:20.797Z,1754688980.797 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=31.774954
2025-08-08T21:36:20.898Z,1754688980.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.90 m.
2025-08-08T21:36:20.904Z,1754688980.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 14.900000 m,
      nav range: 13.503678 m,
      bearing: 86.773551 deg,
      approach rate: -0.660516 m/s,
      LOS rate: -0.256457 deg/s,
      cmd heading: 82.733795 deg,
      new cmd heading: 82.478456 deg.

2025-08-08T21:36:20.906Z,1754688980.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.439521 target range: 14.900000 and range: 14.60 m.
2025-08-08T21:36:21.049Z,1754688981.049 [DAT](INFO): DAT read: Rx Time:21:36:20.5138 

2025-08-08T21:36:21.050Z,1754688981.050 [DAT](INFO): Rx dataTimestamp_ set to:1754688981.049655
2025-08-08T21:36:21.051Z,1754688981.051 [DAT](INFO): DAT read: Bearing 254.6,   9.9 (Local)

2025-08-08T21:36:21.052Z,1754688981.052 [DAT](INFO): Local bearing/azimuth received:
 Bearing 254.6,   9.9 (Local)

2025-08-08T21:36:21.054Z,1754688981.054 [DAT](INFO): DAT read: Range 11 to 50 :    14.1 m (trip time 9.4 ms) speed 0.6

2025-08-08T21:36:21.059Z,1754688981.059 [DAT](INFO): DAT read: 21:36:20.5138 LVL= 23216, 30097, 21426, 32755, AGC= 52, IDX= 497,-0.16, 0.788,-0.948, 1.067, 0.539, PHS= 0.351,-1.442, 0.484, RAW= 153.6,   6.6, CAL= 152.9,   6.8, ROT= 357.1,  -6.8

2025-08-08T21:36:21.060Z,1754688981.060 [DAT](INFO): got valid direction response:
 21:36:20.5138 LVL= 23216, 30097, 21426, 32755, AGC= 52, IDX= 497,-0.16, 0.788,-0.948, 1.067, 0.539, PHS= 0.351,-1.442, 0.484, RAW= 153.6,   6.6, CAL= 152.9,   6.8, ROT= 357.1,  -6.8

2025-08-08T21:36:21.060Z,1754688981.060 [DAT](INFO): #Rx 63: Read range and direction messages.
2025-08-08T21:36:21.061Z,1754688981.061 [DAT](INFO): direction in FSK: [0.991694,-0.050237,0.118404]
2025-08-08T21:36:21.061Z,1754688981.061 [DAT](INFO): publishing direction and range info
2025-08-08T21:36:21.073Z,1754688981.073 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=32.051102
2025-08-08T21:36:21.304Z,1754688981.304 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=32.281273
2025-08-08T21:36:21.361Z,1754688981.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.100000 m,
      deltaT: 0.503896 s,
      deltaX: -0.500000 m,
      approachRate: -0.992268 m/s,
      rangeRepo size: 4

2025-08-08T21:36:21.363Z,1754688981.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 14.100000 m,
      bearing: 86.662571 deg,
      lat: 36.906036 deg,
      lon: -122.115847 deg,
      deltaT: 1.008030 s,
      deltaX: -0.799999 m,
      approachRate: -0.793626 m/s,
      posRepo size: 4

2025-08-08T21:36:21.364Z,1754688981.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.10 m.
2025-08-08T21:36:21.371Z,1754688981.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 14.100000 m,
      nav range: 13.204142 m,
      bearing: 86.662571 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.256457 deg/s,
      cmd heading: 82.478455 deg,
      new cmd heading: 82.126217 deg.

2025-08-08T21:36:21.377Z,1754688981.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.433373 target range: 14.100000 and range: 14.10 m.
2025-08-08T21:36:21.553Z,1754688981.553 [DAT](INFO): DAT read: Rx Time:21:36:21.0137 

2025-08-08T21:36:21.553Z,1754688981.553 [DAT](INFO): Rx dataTimestamp_ set to:1754688981.553151
2025-08-08T21:36:21.555Z,1754688981.555 [DAT](INFO): DAT read: Range 11 to 50 :    14.0 m (trip time 9.3 ms) speed 0.7

2025-08-08T21:36:21.555Z,1754688981.555 [DAT](ERROR): #Rx 64: Read range message, but no direction.
2025-08-08T21:36:21.556Z,1754688981.556 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=32.534313
2025-08-08T21:36:21.754Z,1754688981.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 14.000000 m,
      deltaT: 0.503496 s,
      deltaX: -0.100000 m,
      approachRate: -0.198612 m/s,
      rangeRepo size: 4

2025-08-08T21:36:21.755Z,1754688981.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.10 m.
2025-08-08T21:36:21.762Z,1754688981.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 14.100000 m,
      nav range: 12.949609 m,
      bearing: 86.575290 deg,
      approach rate: -0.639526 m/s,
      LOS rate: -0.223607 deg/s,
      cmd heading: 82.126215 deg,
      new cmd heading: 81.859229 deg.

2025-08-08T21:36:21.763Z,1754688981.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.428713 target range: 14.100000 and range: 14.00 m.
2025-08-08T21:36:21.805Z,1754688981.805 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=32.782982
2025-08-08T21:36:22.057Z,1754688982.057 [DAT](INFO): DAT read: Rx Time:21:36:21.5133 

2025-08-08T21:36:22.058Z,1754688982.058 [DAT](INFO): Rx dataTimestamp_ set to:1754688982.057584
2025-08-08T21:36:22.059Z,1754688982.059 [DAT](INFO): DAT read: Bearing 253.5,  10.9 (Local)

2025-08-08T21:36:22.059Z,1754688982.059 [DAT](INFO): Local bearing/azimuth received:
 Bearing 253.5,  10.9 (Local)

2025-08-08T21:36:22.062Z,1754688982.062 [DAT](INFO): DAT read: Range 11 to 50 :    13.4 m (trip time 8.9 ms) speed 0.6

2025-08-08T21:36:22.066Z,1754688982.066 [DAT](INFO): DAT read: 21:36:21.5133 LVL= 23392, 28577, 22226, 32755, AGC= 52, IDX= 508, 0.15, 2.766, 1.006, 3.016, 2.491, PHS= 0.377,-1.440, 0.481, RAW= 152.8,   6.3, CAL= 152.1,   6.5, ROT= 357.9,  -6.5

2025-08-08T21:36:22.067Z,1754688982.067 [DAT](INFO): got valid direction response:
 21:36:21.5133 LVL= 23392, 28577, 22226, 32755, AGC= 52, IDX= 508, 0.15, 2.766, 1.006, 3.016, 2.491, PHS= 0.377,-1.440, 0.481, RAW= 152.8,   6.3, CAL= 152.1,   6.5, ROT= 357.9,  -6.5

2025-08-08T21:36:22.068Z,1754688982.068 [DAT](INFO): #Rx 65: Read range and direction messages.
2025-08-08T21:36:22.069Z,1754688982.069 [DAT](INFO): direction in FSK: [0.992905,-0.036408,0.113203]
2025-08-08T21:36:22.069Z,1754688982.069 [DAT](INFO): publishing direction and range info
2025-08-08T21:36:22.073Z,1754688982.073 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=33.051094
2025-08-08T21:36:22.151Z,1754688982.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.400000 m,
      deltaT: 0.504433 s,
      deltaX: -0.600000 m,
      approachRate: -1.189455 m/s,
      rangeRepo size: 4

2025-08-08T21:36:22.161Z,1754688982.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.400000 m,
      bearing: 86.524158 deg,
      lat: 36.906036 deg,
      lon: -122.115847 deg,
      deltaT: 1.007929 s,
      deltaX: -0.700001 m,
      approachRate: -0.694494 m/s,
      posRepo size: 4

2025-08-08T21:36:22.162Z,1754688982.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.40 m.
2025-08-08T21:36:22.185Z,1754688982.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 13.400000 m,
      nav range: 12.685719 m,
      bearing: 86.524158 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.223607 deg/s,
      cmd heading: 81.859230 deg,
      new cmd heading: 81.593333 deg.

2025-08-08T21:36:22.186Z,1754688982.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.424072 target range: 13.400000 and range: 13.40 m.
2025-08-08T21:36:22.312Z,1754688982.312 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=33.289280
2025-08-08T21:36:22.562Z,1754688982.562 [DAT](INFO): DAT read: Rx Time:21:36:22.0132 

2025-08-08T21:36:22.562Z,1754688982.562 [DAT](INFO): Rx dataTimestamp_ set to:1754688982.561728
2025-08-08T21:36:22.563Z,1754688982.563 [DAT](INFO): DAT read: Bearing 253.4,  11.2 (Local)

2025-08-08T21:36:22.564Z,1754688982.564 [DAT](INFO): Local bearing/azimuth received:
 Bearing 253.4,  11.2 (Local)

2025-08-08T21:36:22.566Z,1754688982.566 [DAT](INFO): DAT read: Range 11 to 50 :    13.2 m (trip time 8.8 ms) speed 0.6

2025-08-08T21:36:22.575Z,1754688982.575 [DAT](INFO): DAT read: 21:36:22.0132 LVL= 25376, 29937, 23938, 32755, AGC= 53, IDX= 507,-0.07, 2.718, 0.945, 2.959, 2.445, PHS= 0.376,-1.455, 0.470, RAW= 152.5,   6.5, CAL= 151.8,   6.8, ROT= 358.2,  -6.8

2025-08-08T21:36:22.576Z,1754688982.576 [DAT](INFO): got valid direction response:
 21:36:22.0132 LVL= 25376, 29937, 23938, 32755, AGC= 53, IDX= 507,-0.07, 2.718, 0.945, 2.959, 2.445, PHS= 0.376,-1.455, 0.470, RAW= 152.5,   6.5, CAL= 151.8,   6.8, ROT= 358.2,  -6.8

2025-08-08T21:36:22.576Z,1754688982.576 [DAT](INFO): #Rx 66: Read range and direction messages.
2025-08-08T21:36:22.577Z,1754688982.577 [DAT](INFO): direction in FSK: [0.992476,-0.031190,0.118404]
2025-08-08T21:36:22.577Z,1754688982.577 [DAT](INFO): publishing direction and range info
2025-08-08T21:36:22.581Z,1754688982.581 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=33.558891
2025-08-08T21:36:22.628Z,1754688982.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 13.200000 m,
      deltaT: 0.504144 s,
      deltaX: -0.200000 m,
      approachRate: -0.396712 m/s,
      rangeRepo size: 4

2025-08-08T21:36:22.630Z,1754688982.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 13.200000 m,
      bearing: 86.402941 deg,
      lat: 36.906036 deg,
      lon: -122.115847 deg,
      deltaT: 0.504144 s,
      deltaX: -0.200000 m,
      approachRate: -0.396712 m/s,
      posRepo size: 4

2025-08-08T21:36:22.631Z,1754688982.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.20 m.
2025-08-08T21:36:22.642Z,1754688982.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 13.200000 m,
      nav range: 12.378143 m,
      bearing: 86.402941 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.223607 deg/s,
      cmd heading: 81.593331 deg,
      new cmd heading: 81.278842 deg.

2025-08-08T21:36:22.643Z,1754688982.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.418583 target range: 13.200000 and range: 13.20 m.
2025-08-08T21:36:22.813Z,1754688982.813 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=33.791210
2025-08-08T21:36:23.010Z,1754688983.010 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-08T21:36:23.020Z,1754688983.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.20 m.
2025-08-08T21:36:23.023Z,1754688983.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 13.200000 m,
      nav range: 12.174038 m,
      bearing: 86.323423 deg,
      approach rate: -0.519384 m/s,
      LOS rate: -0.205741 deg/s,
      cmd heading: 81.278841 deg,
      new cmd heading: 81.036289 deg.

2025-08-08T21:36:23.029Z,1754688983.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.414350 target range: 13.200000 and range: 13.20 m.
2025-08-08T21:36:23.066Z,1754688983.066 [DAT](INFO): DAT read: Rx Time:21:36:22.5129 

2025-08-08T21:36:23.066Z,1754688983.066 [DAT](INFO): Rx dataTimestamp_ set to:1754688983.065728
2025-08-08T21:36:23.067Z,1754688983.067 [DAT](INFO): DAT read: Bearing 253.2,  11.9 (Local)

2025-08-08T21:36:23.068Z,1754688983.068 [DAT](INFO): Local bearing/azimuth received:
 Bearing 253.2,  11.9 (Local)

2025-08-08T21:36:23.070Z,1754688983.070 [DAT](INFO): DAT read: Range 11 to 50 :    12.8 m (trip time 8.5 ms) speed 0.6

2025-08-08T21:36:23.075Z,1754688983.075 [DAT](INFO): DAT read: 21:36:22.5129 LVL= 22848, 30945, 24450, 32755, AGC= 52, IDX= 504,-0.31, 0.563,-1.217, 0.785, 0.283, PHS= 0.382,-1.454, 0.458, RAW= 152.0,   6.6, CAL= 151.3,   6.9, ROT= 358.7,  -6.9

2025-08-08T21:36:23.077Z,1754688983.077 [DAT](INFO): got valid direction response:
 21:36:22.5129 LVL= 22848, 30945, 24450, 32755, AGC= 52, IDX= 504,-0.31, 0.563,-1.217, 0.785, 0.283, PHS= 0.382,-1.454, 0.458, RAW= 152.0,   6.6, CAL= 151.3,   6.9, ROT= 358.7,  -6.9

2025-08-08T21:36:23.078Z,1754688983.078 [DAT](INFO): #Rx 67: Read range and direction messages.
2025-08-08T21:36:23.079Z,1754688983.079 [DAT](INFO): direction in FSK: [0.992502,-0.022523,0.120137]
2025-08-08T21:36:23.079Z,1754688983.079 [DAT](INFO): publishing direction and range info
2025-08-08T21:36:23.095Z,1754688983.095 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=34.072685
2025-08-08T21:36:23.319Z,1754688983.319 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=34.296528
2025-08-08T21:36:23.445Z,1754688983.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.800000 m,
      deltaT: 0.504000 s,
      deltaX: -0.400000 m,
      approachRate: -0.793650 m/s,
      rangeRepo size: 4

2025-08-08T21:36:23.447Z,1754688983.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.800000 m,
      bearing: 86.254230 deg,
      lat: 36.906036 deg,
      lon: -122.115847 deg,
      deltaT: 0.504000 s,
      deltaX: -0.400000 m,
      approachRate: -0.793650 m/s,
      posRepo size: 4

2025-08-08T21:36:23.452Z,1754688983.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.80 m.
2025-08-08T21:36:23.477Z,1754688983.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.800000 m,
      nav range: 11.875154 m,
      bearing: 86.254230 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.205741 deg/s,
      cmd heading: 81.036288 deg,
      new cmd heading: 80.772113 deg.

2025-08-08T21:36:23.486Z,1754688983.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.409739 target range: 12.800000 and range: 12.80 m.
2025-08-08T21:36:23.571Z,1754688983.571 [DAT](INFO): DAT read: Rx Time:21:36:23.0127 

2025-08-08T21:36:23.571Z,1754688983.571 [DAT](INFO): Rx dataTimestamp_ set to:1754688983.571182
2025-08-08T21:36:23.573Z,1754688983.573 [DAT](INFO): DAT read: Bearing 252.3,  12.4 (Local)

2025-08-08T21:36:23.574Z,1754688983.574 [DAT](INFO): Local bearing/azimuth received:
 Bearing 252.3,  12.4 (Local)

2025-08-08T21:36:23.577Z,1754688983.577 [DAT](INFO): DAT read: Range 11 to 50 :    12.5 m (trip time 8.3 ms) speed 0.6

2025-08-08T21:36:23.582Z,1754688983.582 [DAT](INFO): DAT read: 21:36:23.0127 LVL= 24096, 30961, 24802, 32755, AGC= 52, IDX= 502, 0.33,-2.411, 2.070,-2.200,-2.714, PHS= 0.405,-1.454, 0.470, RAW= 151.7,   6.2, CAL= 151.0,   6.4, ROT= 359.0,  -6.4

2025-08-08T21:36:23.583Z,1754688983.583 [DAT](INFO): got valid direction response:
 21:36:23.0127 LVL= 24096, 30961, 24802, 32755, AGC= 52, IDX= 502, 0.33,-2.411, 2.070,-2.200,-2.714, PHS= 0.405,-1.454, 0.470, RAW= 151.7,   6.2, CAL= 151.0,   6.4, ROT= 359.0,  -6.4

2025-08-08T21:36:23.584Z,1754688983.584 [DAT](INFO): #Rx 68: Read range and direction messages.
2025-08-08T21:36:23.585Z,1754688983.585 [DAT](INFO): direction in FSK: [0.993617,-0.017344,0.111469]
2025-08-08T21:36:23.586Z,1754688983.586 [DAT](INFO): publishing direction and range info
2025-08-08T21:36:23.597Z,1754688983.597 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=34.575394
2025-08-08T21:36:23.796Z,1754688983.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.500000 m,
      deltaT: 0.505454 s,
      deltaX: -0.300000 m,
      approachRate: -0.593526 m/s,
      rangeRepo size: 4

2025-08-08T21:36:23.798Z,1754688983.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.500000 m,
      bearing: 86.247604 deg,
      lat: 36.906036 deg,
      lon: -122.115847 deg,
      deltaT: 0.505454 s,
      deltaX: -0.300000 m,
      approachRate: -0.593526 m/s,
      posRepo size: 4

2025-08-08T21:36:23.799Z,1754688983.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.50 m.
2025-08-08T21:36:23.806Z,1754688983.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.500000 m,
      nav range: 11.652955 m,
      bearing: 86.247604 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.205741 deg/s,
      cmd heading: 80.772110 deg,
      new cmd heading: 80.555301 deg.

2025-08-08T21:36:23.807Z,1754688983.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.405955 target range: 12.500000 and range: 12.50 m.
2025-08-08T21:36:23.821Z,1754688983.821 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=34.799030
2025-08-08T21:36:24.073Z,1754688984.073 [DAT](INFO): DAT read: Rx Time:21:36:23.5125 

2025-08-08T21:36:24.074Z,1754688984.074 [DAT](INFO): Rx dataTimestamp_ set to:1754688984.073559
2025-08-08T21:36:24.075Z,1754688984.075 [DAT](INFO): DAT read: Bearing 252.1,  13.0 (Local)

2025-08-08T21:36:24.075Z,1754688984.075 [DAT](INFO): Local bearing/azimuth received:
 Bearing 252.1,  13.0 (Local)

2025-08-08T21:36:24.078Z,1754688984.078 [DAT](INFO): DAT read: Range 11 to 50 :    12.2 m (trip time 8.1 ms) speed 0.6

2025-08-08T21:36:24.082Z,1754688984.082 [DAT](INFO): DAT read: 21:36:23.5125 LVL= 24096, 31185, 25250, 32755, AGC= 52, IDX= 499, 0.15, 2.479, 0.667, 2.672, 2.171, PHS= 0.410,-1.459, 0.457, RAW= 151.2,   6.3, CAL= 150.5,   6.6, ROT= 359.5,  -6.6

2025-08-08T21:36:24.083Z,1754688984.083 [DAT](INFO): got valid direction response:
 21:36:23.5125 LVL= 24096, 31185, 25250, 32755, AGC= 52, IDX= 499, 0.15, 2.479, 0.667, 2.672, 2.171, PHS= 0.410,-1.459, 0.457, RAW= 151.2,   6.3, CAL= 150.5,   6.6, ROT= 359.5,  -6.6

2025-08-08T21:36:24.084Z,1754688984.084 [DAT](INFO): #Rx 69: Read range and direction messages.
2025-08-08T21:36:24.085Z,1754688984.085 [DAT](INFO): direction in FSK: [0.993335,-0.008668,0.114937]
2025-08-08T21:36:24.085Z,1754688984.085 [DAT](INFO): publishing direction and range info
2025-08-08T21:36:24.089Z,1754688984.089 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=35.066589
2025-08-08T21:36:24.209Z,1754688984.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 12.200000 m,
      deltaT: 0.502377 s,
      deltaX: -0.300000 m,
      approachRate: -0.597161 m/s,
      rangeRepo size: 4

2025-08-08T21:36:24.211Z,1754688984.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 12.200000 m,
      bearing: 86.187671 deg,
      lat: 36.906036 deg,
      lon: -122.115847 deg,
      deltaT: 0.502377 s,
      deltaX: -0.300000 m,
      approachRate: -0.597161 m/s,
      posRepo size: 4

2025-08-08T21:36:24.212Z,1754688984.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.20 m.
2025-08-08T21:36:24.215Z,1754688984.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 12.200000 m,
      nav range: 11.400077 m,
      bearing: 86.187671 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.205741 deg/s,
      cmd heading: 80.555299 deg,
      new cmd heading: 80.297761 deg.

2025-08-08T21:36:24.224Z,1754688984.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.401460 target range: 12.200000 and range: 12.20 m.
2025-08-08T21:36:24.330Z,1754688984.330 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=35.307655
2025-08-08T21:36:24.577Z,1754688984.577 [DAT](INFO): DAT read: Rx Time:21:36:24.0123 

2025-08-08T21:36:24.578Z,1754688984.578 [DAT](INFO): Rx dataTimestamp_ set to:1754688984.577644
2025-08-08T21:36:24.579Z,1754688984.579 [DAT](INFO): DAT read: Bearing 252.1,  13.5 (Local)

2025-08-08T21:36:24.580Z,1754688984.580 [DAT](INFO): Local bearing/azimuth received:
 Bearing 252.1,  13.5 (Local)

2025-08-08T21:36:24.582Z,1754688984.582 [DAT](INFO): DAT read: Range 11 to 50 :    11.9 m (trip time 7.9 ms) speed 0.6

2025-08-08T21:36:24.586Z,1754688984.586 [DAT](INFO): DAT read: 21:36:24.0123 LVL= 21088, 27921, 22642, 32755, AGC= 51, IDX= 497, 0.07, 1.480,-0.325, 1.653, 1.172, PHS= 0.410,-1.452, 0.437, RAW= 150.7,   6.5, CAL= 150.1,   6.9, ROT= 359.9,  -6.9

2025-08-08T21:36:24.587Z,1754688984.587 [DAT](INFO): got valid direction response:
 21:36:24.0123 LVL= 21088, 27921, 22642, 32755, AGC= 51, IDX= 497, 0.07, 1.480,-0.325, 1.653, 1.172, PHS= 0.410,-1.452, 0.437, RAW= 150.7,   6.5, CAL= 150.1,   6.9, ROT= 359.9,  -6.9

2025-08-08T21:36:24.588Z,1754688984.588 [DAT](INFO): #Rx 70: Read range and direction messages.
2025-08-08T21:36:24.589Z,1754688984.589 [DAT](INFO): direction in FSK: [0.992756,-0.001733,0.120137]
2025-08-08T21:36:24.589Z,1754688984.589 [DAT](INFO): publishing direction and range info
2025-08-08T21:36:24.594Z,1754688984.594 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=35.571850
2025-08-08T21:36:24.722Z,1754688984.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.900000 m,
      deltaT: 0.504085 s,
      deltaX: -0.300000 m,
      approachRate: -0.595138 m/s,
      rangeRepo size: 4

2025-08-08T21:36:24.732Z,1754688984.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 11.900000 m,
      bearing: 86.059229 deg,
      lat: 36.906036 deg,
      lon: -122.115847 deg,
      deltaT: 0.504085 s,
      deltaX: -0.300000 m,
      approachRate: -0.595138 m/s,
      posRepo size: 4

2025-08-08T21:36:24.733Z,1754688984.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.90 m.
2025-08-08T21:36:24.735Z,1754688984.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 11.900000 m,
      nav range: 11.100049 m,
      bearing: 86.059229 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.205741 deg/s,
      cmd heading: 80.297760 deg,
      new cmd heading: 79.981398 deg.

2025-08-08T21:36:24.741Z,1754688984.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.395939 target range: 11.900000 and range: 11.90 m.
2025-08-08T21:36:24.833Z,1754688984.833 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=35.810863
2025-08-08T21:36:25.082Z,1754688985.082 [DAT](INFO): DAT read: Rx Time:21:36:24.5120 

2025-08-08T21:36:25.082Z,1754688985.082 [DAT](INFO): Rx dataTimestamp_ set to:1754688985.081709
2025-08-08T21:36:25.083Z,1754688985.083 [DAT](INFO): DAT read: Bearing 251.7,  14.0 (Local)

2025-08-08T21:36:25.084Z,1754688985.084 [DAT](INFO): Local bearing/azimuth received:
 Bearing 251.7,  14.0 (Local)

2025-08-08T21:36:25.086Z,1754688985.086 [DAT](INFO): DAT read: Range 11 to 50 :    11.4 m (trip time 7.6 ms) speed 0.5

2025-08-08T21:36:25.090Z,1754688985.090 [DAT](INFO): DAT read: 21:36:24.5120 LVL= 20288, 27857, 22082, 32707, AGC= 50, IDX= 510, 0.04, 0.179,-1.629, 0.337,-0.139, PHS= 0.420,-1.445, 0.432, RAW= 150.3,   6.4, CAL= 149.7,   6.8, ROT=   0.3,  -6.8

2025-08-08T21:36:25.091Z,1754688985.091 [DAT](INFO): got valid direction response:
 21:36:24.5120 LVL= 20288, 27857, 22082, 32707, AGC= 50, IDX= 510, 0.04, 0.179,-1.629, 0.337,-0.139, PHS= 0.420,-1.445, 0.432, RAW= 150.3,   6.4, CAL= 149.7,   6.8, ROT=   0.3,  -6.8

2025-08-08T21:36:25.092Z,1754688985.092 [DAT](INFO): #Rx 71: Read range and direction messages.
2025-08-08T21:36:25.093Z,1754688985.093 [DAT](INFO): direction in FSK: [0.992952,0.005199,0.118404]
2025-08-08T21:36:25.093Z,1754688985.093 [DAT](INFO): publishing direction and range info
2025-08-08T21:36:25.101Z,1754688985.101 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=36.078564
2025-08-08T21:36:25.118Z,1754688985.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.400000 m,
      deltaT: 0.504065 s,
      deltaX: -0.500000 m,
      approachRate: -0.991936 m/s,
      rangeRepo size: 4

2025-08-08T21:36:25.125Z,1754688985.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 11.400000 m,
      bearing: 86.216872 deg,
      lat: 36.906035 deg,
      lon: -122.115847 deg,
      deltaT: 0.504065 s,
      deltaX: -0.500000 m,
      approachRate: -0.991936 m/s,
      posRepo size: 4

2025-08-08T21:36:25.125Z,1754688985.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.40 m.
2025-08-08T21:36:25.132Z,1754688985.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 11.400000 m,
      nav range: 10.868120 m,
      bearing: 86.216872 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.205741 deg/s,
      cmd heading: 79.981399 deg,
      new cmd heading: 79.736667 deg.

2025-08-08T21:36:25.133Z,1754688985.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.391667 target range: 11.400000 and range: 11.40 m.
2025-08-08T21:36:25.336Z,1754688985.336 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=36.313290
2025-08-08T21:36:25.589Z,1754688985.589 [DAT](INFO): DAT read: Rx Time:21:36:25.0119 

2025-08-08T21:36:25.590Z,1754688985.590 [DAT](INFO): Rx dataTimestamp_ set to:1754688985.589656
2025-08-08T21:36:25.591Z,1754688985.591 [DAT](INFO): DAT read: Bearing 251.6,  14.4 (Local)

2025-08-08T21:36:25.592Z,1754688985.592 [DAT](INFO): Local bearing/azimuth received:
 Bearing 251.6,  14.4 (Local)

2025-08-08T21:36:25.594Z,1754688985.594 [DAT](INFO): DAT read: Range 11 to 50 :    11.3 m (trip time 7.5 ms) speed 0.5

2025-08-08T21:36:25.598Z,1754688985.598 [DAT](INFO): DAT read: 21:36:25.0119 LVL= 20368, 28385, 22850, 32755, AGC= 50, IDX= 509, 0.07, 0.558,-1.255, 0.699, 0.238, PHS= 0.421,-1.448, 0.417, RAW= 149.9,   6.6, CAL= 149.3,   7.0, ROT=   0.7,  -7.0

2025-08-08T21:36:25.599Z,1754688985.599 [DAT](INFO): got valid direction response:
 21:36:25.0119 LVL= 20368, 28385, 22850, 32755, AGC= 50, IDX= 509, 0.07, 0.558,-1.255, 0.699, 0.238, PHS= 0.421,-1.448, 0.417, RAW= 149.9,   6.6, CAL= 149.3,   7.0, ROT=   0.7,  -7.0

2025-08-08T21:36:25.600Z,1754688985.600 [DAT](INFO): #Rx 72: Read range and direction messages.
2025-08-08T21:36:25.601Z,1754688985.601 [DAT](INFO): direction in FSK: [0.992472,0.012126,0.121869]
2025-08-08T21:36:25.601Z,1754688985.601 [DAT](INFO): publishing direction and range info
2025-08-08T21:36:25.612Z,1754688985.612 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=36.590496
2025-08-08T21:36:25.616Z,1754688985.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 11.300000 m,
      deltaT: 0.507947 s,
      deltaX: -0.099999 m,
      approachRate: -0.196870 m/s,
      rangeRepo size: 4

2025-08-08T21:36:25.617Z,1754688985.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.40 m.
2025-08-08T21:36:25.619Z,1754688985.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 11.400000 m,
      nav range: 10.568638 m,
      bearing: 86.110382 deg,
      approach rate: -0.602139 m/s,
      LOS rate: -0.220177 deg/s,
      cmd heading: 79.736667 deg,
      new cmd heading: 79.408146 deg.

2025-08-08T21:36:25.625Z,1754688985.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.385934 target range: 11.400000 and range: 11.30 m.
2025-08-08T21:36:25.842Z,1754688985.842 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=36.819656
2025-08-08T21:36:26.042Z,1754688986.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.40 m.
2025-08-08T21:36:26.054Z,1754688986.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 11.400000 m,
      nav range: 10.303027 m,
      bearing: 86.028397 deg,
      approach rate: -0.621455 m/s,
      LOS rate: -0.196767 deg/s,
      cmd heading: 79.408148 deg,
      new cmd heading: 79.155854 deg.

2025-08-08T21:36:26.055Z,1754688986.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.381530 target range: 11.400000 and range: 11.30 m.
2025-08-08T21:36:26.094Z,1754688986.094 [DAT](INFO): DAT read: Rx Time:21:36:25.5116 

2025-08-08T21:36:26.094Z,1754688986.094 [DAT](INFO): Rx dataTimestamp_ set to:1754688986.093717
2025-08-08T21:36:26.095Z,1754688986.095 [DAT](INFO): DAT read: Bearing 251.1,  14.8 (Local)

2025-08-08T21:36:26.097Z,1754688986.097 [DAT](INFO): Local bearing/azimuth received:
 Bearing 251.1,  14.8 (Local)

2025-08-08T21:36:26.100Z,1754688986.100 [DAT](INFO): DAT read: Range 11 to 50 :    10.8 m (trip time 7.2 ms) speed 0.5

2025-08-08T21:36:26.107Z,1754688986.107 [DAT](INFO): DAT read: 21:36:25.5116 LVL= 21488, 28065, 24290, 32755, AGC= 50, IDX= 506, 0.14,-0.624,-2.434,-0.494,-0.949, PHS= 0.427,-1.440, 0.411, RAW= 149.6,   6.5, CAL= 149.0,   6.9, ROT=   1.0,  -6.9

2025-08-08T21:36:26.108Z,1754688986.108 [DAT](INFO): got valid direction response:
 21:36:25.5116 LVL= 21488, 28065, 24290, 32755, AGC= 50, IDX= 506, 0.14,-0.624,-2.434,-0.494,-0.949, PHS= 0.427,-1.440, 0.411, RAW= 149.6,   6.5, CAL= 149.0,   6.9, ROT=   1.0,  -6.9

2025-08-08T21:36:26.109Z,1754688986.109 [DAT](INFO): #Rx 73: Read range and direction messages.
2025-08-08T21:36:26.110Z,1754688986.110 [DAT](INFO): direction in FSK: [0.992606,0.017326,0.120137]
2025-08-08T21:36:26.111Z,1754688986.111 [DAT](INFO): publishing direction and range info
2025-08-08T21:36:26.133Z,1754688986.133 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=37.110989
2025-08-08T21:36:26.347Z,1754688986.347 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=37.324581
2025-08-08T21:36:26.526Z,1754688986.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 10.800000 m,
      deltaT: 0.504061 s,
      deltaX: -0.500000 m,
      approachRate: -0.991943 m/s,
      rangeRepo size: 4

2025-08-08T21:36:26.528Z,1754688986.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 10.800000 m,
      bearing: 86.453576 deg,
      lat: 36.906034 deg,
      lon: -122.115846 deg,
      deltaT: 1.012008 s,
      deltaX: -0.599999 m,
      approachRate: -0.592880 m/s,
      posRepo size: 4

2025-08-08T21:36:26.529Z,1754688986.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.80 m.
2025-08-08T21:36:26.532Z,1754688986.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.800000 m,
      nav range: 10.070425 m,
      bearing: 86.453576 deg,
      approach rate: 0.000000 m/s,
      LOS rate: -0.196767 deg/s,
      cmd heading: 79.155855 deg,
      new cmd heading: 78.870668 deg.

2025-08-08T21:36:26.533Z,1754688986.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.376553 target range: 10.800000 and range: 10.80 m.
2025-08-08T21:36:26.598Z,1754688986.598 [DAT](INFO): DAT read: Rx Time:21:36:26.0115 

2025-08-08T21:36:26.598Z,1754688986.598 [DAT](INFO): Rx dataTimestamp_ set to:1754688986.597777
2025-08-08T21:36:26.599Z,1754688986.599 [DAT](INFO): DAT read: Bearing 250.9,  15.2 (Local)

2025-08-08T21:36:26.600Z,1754688986.600 [DAT](INFO): Local bearing/azimuth received:
 Bearing 250.9,  15.2 (Local)

2025-08-08T21:36:26.602Z,1754688986.602 [DAT](INFO): DAT read: Range 11 to 50 :    10.7 m (trip time 7.1 ms) speed 0.5

2025-08-08T21:36:26.608Z,1754688986.608 [DAT](INFO): DAT read: 21:36:26.0115 LVL= 19856, 28209, 22274, 32755, AGC= 49, IDX= 505, 0.28, 0.547,-1.267, 0.666, 0.218, PHS= 0.431,-1.440, 0.403, RAW= 149.3,   6.6, CAL= 148.7,   7.0, ROT=   1.3,  -7.0

2025-08-08T21:36:26.610Z,1754688986.610 [DAT](INFO): got valid direction response:
 21:36:26.0115 LVL= 19856, 28209, 22274, 32755, AGC= 49, IDX= 505, 0.28, 0.547,-1.267, 0.666, 0.218, PHS= 0.431,-1.440, 0.403, RAW= 149.3,   6.6, CAL= 148.7,   7.0, ROT=   1.3,  -7.0

2025-08-08T21:36:26.610Z,1754688986.610 [DAT](INFO): #Rx 74: Read range and direction messages.
2025-08-08T21:36:26.620Z,1754688986.620 [DAT](INFO): direction in FSK: [0.992291,0.022518,0.121869]
2025-08-08T21:36:26.633Z,1754688986.633 [DAT](INFO): publishing direction and range info
2025-08-08T21:36:26.641Z,1754688986.641 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=37.619232
2025-08-08T21:36:26.850Z,1754688986.850 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=37.827808
2025-08-08T21:36:26.898Z,1754688986.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 10.700000 m,
      deltaT: 0.504060 s,
      deltaX: -0.100000 m,
      approachRate: -0.198390 m/s,
      rangeRepo size: 4

2025-08-08T21:36:26.904Z,1754688986.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 10.700000 m,
      bearing: 86.391135 deg,
      lat: 36.906034 deg,
      lon: -122.115846 deg,
      deltaT: 0.504060 s,
      deltaX: -0.100000 m,
      approachRate: -0.198390 m/s,
      posRepo size: 4

2025-08-08T21:36:26.905Z,1754688986.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.70 m.
2025-08-08T21:36:26.907Z,1754688986.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.700000 m,
      nav range: 9.883826 m,
      bearing: 86.391135 deg,
      approach rate: -0.000000 m/s,
      LOS rate: -0.196767 deg/s,
      cmd heading: 78.870667 deg,
      new cmd heading: 78.651242 deg.

2025-08-08T21:36:26.913Z,1754688986.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.372723 target range: 10.700000 and range: 10.70 m.
2025-08-08T21:36:27.102Z,1754688987.102 [DAT](INFO): DAT read: Rx Time:21:36:26.5113 

2025-08-08T21:36:27.102Z,1754688987.102 [DAT](INFO): Rx dataTimestamp_ set to:1754688987.101736
2025-08-08T21:36:27.103Z,1754688987.103 [DAT](INFO): DAT read: Bearing 251.0,  15.7 (Local)

2025-08-08T21:36:27.104Z,1754688987.104 [DAT](INFO): Local bearing/azimuth received:
 Bearing 251.0,  15.7 (Local)

2025-08-08T21:36:27.106Z,1754688987.106 [DAT](INFO): DAT read: Range 11 to 50 :    10.4 m (trip time 6.9 ms) speed 0.4

2025-08-08T21:36:27.111Z,1754688987.111 [DAT](INFO): DAT read: 21:36:26.5113 LVL= 20256, 29665, 23954, 32755, AGC= 49, IDX= 503,-0.46,-2.187, 2.285,-2.086,-2.511, PHS= 0.426,-1.442, 0.380, RAW= 148.8,   6.9, CAL= 148.2,   7.4, ROT=   1.8,  -7.4

2025-08-08T21:36:27.112Z,1754688987.112 [DAT](INFO): got valid direction response:
 21:36:26.5113 LVL= 20256, 29665, 23954, 32755, AGC= 49, IDX= 503,-0.46,-2.187, 2.285,-2.086,-2.511, PHS= 0.426,-1.442, 0.380, RAW= 148.8,   6.9, CAL= 148.2,   7.4, ROT=   1.8,  -7.4

2025-08-08T21:36:27.112Z,1754688987.112 [DAT](INFO): #Rx 75: Read range and direction messages.
2025-08-08T21:36:27.113Z,1754688987.113 [DAT](INFO): direction in FSK: [0.991182,0.031149,0.128796]
2025-08-08T21:36:27.113Z,1754688987.113 [DAT](INFO): publishing direction and range info
2025-08-08T21:36:27.121Z,1754688987.121 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=38.098896
2025-08-08T21:36:27.309Z,1754688987.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 10.400000 m,
      deltaT: 0.503959 s,
      deltaX: -0.300000 m,
      approachRate: -0.595287 m/s,
      rangeRepo size: 4

2025-08-08T21:36:27.312Z,1754688987.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 10.400000 m,
      bearing: 86.282730 deg,
      lat: 36.906034 deg,
      lon: -122.115846 deg,
      deltaT: 0.503959 s,
      deltaX: -0.300000 m,
      approachRate: -0.595287 m/s,
      posRepo size: 4

2025-08-08T21:36:27.316Z,1754688987.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.40 m.
2025-08-08T21:36:27.319Z,1754688987.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.400000 m,
      nav range: 9.655743 m,
      bearing: 86.282730 deg,
      approach rate: -0.000000 m/s,
      LOS rate: -0.196767 deg/s,
      cmd heading: 78.651240 deg,
      new cmd heading: 78.408281 deg.

2025-08-08T21:36:27.324Z,1754688987.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.368483 target range: 10.400000 and range: 10.40 m.
2025-08-08T21:36:27.358Z,1754688987.358 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=38.335464
2025-08-08T21:36:27.605Z,1754688987.605 [DAT](INFO): DAT read: Rx Time:21:36:27.0112 

2025-08-08T21:36:27.606Z,1754688987.606 [DAT](INFO): Rx dataTimestamp_ set to:1754688987.605532
2025-08-08T21:36:27.607Z,1754688987.607 [DAT](INFO): DAT read: Bearing 250.8,  16.0 (Local)

2025-08-08T21:36:27.607Z,1754688987.607 [DAT](INFO): Local bearing/azimuth received:
 Bearing 250.8,  16.0 (Local)

2025-08-08T21:36:27.610Z,1754688987.610 [DAT](INFO): DAT read: Range 11 to 50 :    10.2 m (trip time 6.8 ms) speed 0.4

2025-08-08T21:36:27.615Z,1754688987.615 [DAT](INFO): DAT read: 21:36:27.0112 LVL= 20640, 29233, 23602, 32755, AGC= 49, IDX= 502,-0.21,-1.482, 2.990,-1.392,-1.807, PHS= 0.427,-1.442, 0.371, RAW= 148.5,   7.0, CAL= 147.9,   7.6, ROT=   2.1,  -7.6

2025-08-08T21:36:27.616Z,1754688987.616 [DAT](INFO): got valid direction response:
 21:36:27.0112 LVL= 20640, 29233, 23602, 32755, AGC= 49, IDX= 502,-0.21,-1.482, 2.990,-1.392,-1.807, PHS= 0.427,-1.442, 0.371, RAW= 148.5,   7.0, CAL= 147.9,   7.6, ROT=   2.1,  -7.6

2025-08-08T21:36:27.617Z,1754688987.617 [DAT](INFO): #Rx 76: Read range and direction messages.
2025-08-08T21:36:27.618Z,1754688987.618 [DAT](INFO): direction in FSK: [0.990550,0.036322,0.132256]
2025-08-08T21:36:27.618Z,1754688987.618 [DAT](INFO): publishing direction and range info
2025-08-08T21:36:27.621Z,1754688987.621 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=38.599304
2025-08-08T21:36:27.769Z,1754688987.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 10.200000 m,
      deltaT: 0.503796 s,
      deltaX: -0.200000 m,
      approachRate: -0.396986 m/s,
      rangeRepo size: 4

2025-08-08T21:36:27.771Z,1754688987.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 10.200000 m,
      bearing: 86.227012 deg,
      lat: 36.906034 deg,
      lon: -122.115845 deg,
      deltaT: 0.503796 s,
      deltaX: -0.200000 m,
      approachRate: -0.396986 m/s,
      posRepo size: 4

2025-08-08T21:36:27.771Z,1754688987.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.20 m.
2025-08-08T21:36:27.778Z,1754688987.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 10.200000 m,
      nav range: 9.446831 m,
      bearing: 86.227012 deg,
      approach rate: -0.000000 m/s,
      LOS rate: -0.196767 deg/s,
      cmd heading: 78.408284 deg,
      new cmd heading: 78.139807 deg.

2025-08-08T21:36:27.779Z,1754688987.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.363797 target range: 10.200000 and range: 10.20 m.
2025-08-08T21:36:27.858Z,1754688987.858 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=38.836033
2025-08-08T21:36:28.110Z,1754688988.110 [DAT](INFO): DAT read: Rx Time:21:36:27.5109 

2025-08-08T21:36:28.110Z,1754688988.110 [DAT](INFO): Rx dataTimestamp_ set to:1754688988.109705
2025-08-08T21:36:28.111Z,1754688988.111 [DAT](INFO): DAT read: Bearing 250.4,  16.4 (Local)

2025-08-08T21:36:28.112Z,1754688988.112 [DAT](INFO): Local bearing/azimuth received:
 Bearing 250.4,  16.4 (Local)

2025-08-08T21:36:28.114Z,1754688988.114 [DAT](INFO): DAT read: Range 11 to 50 :     9.8 m (trip time 6.5 ms) speed 0.4

2025-08-08T21:36:28.118Z,1754688988.118 [DAT](INFO): DAT read: 21:36:27.5109 LVL= 21280, 28961, 23986, 32755, AGC= 48, IDX= 499,-0.01,-2.089, 2.391,-2.009,-2.416, PHS= 0.430,-1.431, 0.364, RAW= 148.2,   7.0, CAL= 147.7,   7.5, ROT=   2.3,  -7.5

2025-08-08T21:36:28.119Z,1754688988.119 [DAT](INFO): got valid direction response:
 21:36:27.5109 LVL= 21280, 28961, 23986, 32755, AGC= 48, IDX= 499,-0.01,-2.089, 2.391,-2.009,-2.416, PHS= 0.430,-1.431, 0.364, RAW= 148.2,   7.0, CAL= 147.7,   7.5, ROT=   2.3,  -7.5

2025-08-08T21:36:28.120Z,1754688988.120 [DAT](INFO): #Rx 77: Read range and direction messages.
2025-08-08T21:36:28.121Z,1754688988.121 [DAT](INFO): direction in FSK: [0.990646,0.039788,0.130526]
2025-08-08T21:36:28.121Z,1754688988.121 [DAT](INFO): publishing direction and range info
2025-08-08T21:36:28.129Z,1754688988.129 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=39.106644
2025-08-08T21:36:28.188Z,1754688988.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 9.800000 m,
      deltaT: 0.504173 s,
      deltaX: -0.400000 m,
      approachRate: -0.793378 m/s,
      rangeRepo size: 4

2025-08-08T21:36:28.190Z,1754688988.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 9.800000 m,
      bearing: 86.187505 deg,
      lat: 36.906034 deg,
      lon: -122.115846 deg,
      deltaT: 0.504173 s,
      deltaX: -0.400000 m,
      approachRate: -0.793378 m/s,
      posRepo size: 4

2025-08-08T21:36:28.191Z,1754688988.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.80 m.
2025-08-08T21:36:28.191Z,1754688988.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Short final. Range: 9.80 m.
2025-08-08T21:36:28.192Z,1754688988.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: SHORT_FINAL
2025-08-08T21:36:28.198Z,1754688988.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.800000 m,
      nav range: 9.168455 m,
      bearing: 86.187505 deg,
      approach rate: -0.000000 m/s,
      LOS rate: -0.196767 deg/s,
      cmd heading: 78.139809 deg,
      new cmd heading: 77.915658 deg.

2025-08-08T21:36:28.199Z,1754688988.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.359885 target range: 9.800000 and range: 9.80 m.
2025-08-08T21:36:28.364Z,1754688988.364 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=39.341419
2025-08-08T21:36:28.580Z,1754688988.580 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-08T21:36:28.583Z,1754688988.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.80 m. 9.80 m.
2025-08-08T21:36:28.589Z,1754688988.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.800000 m,
      nav range: 8.916774 m,
      bearing: 86.185546 deg,
      approach rate: -0.573190 m/s,
      LOS rate: -0.004588 deg/s,
      cmd heading: 77.915656 deg,
      new cmd heading: 77.909613 deg.

2025-08-08T21:36:28.590Z,1754688988.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.359779 target range: 9.800000 and range: 9.80 m.
2025-08-08T21:36:28.614Z,1754688988.614 [DAT](INFO): DAT read: Rx Time:21:36:28.0108 

2025-08-08T21:36:28.614Z,1754688988.614 [DAT](INFO): Rx dataTimestamp_ set to:1754688988.613746
2025-08-08T21:36:28.615Z,1754688988.615 [DAT](INFO): DAT read: Bearing 249.7,  16.5 (Local)

2025-08-08T21:36:28.616Z,1754688988.616 [DAT](INFO): Local bearing/azimuth received:
 Bearing 249.7,  16.5 (Local)

2025-08-08T21:36:28.618Z,1754688988.618 [DAT](INFO): DAT read: Range 11 to 50 :     9.6 m (trip time 6.4 ms) speed 0.4

2025-08-08T21:36:28.623Z,1754688988.623 [DAT](INFO): DAT read: 21:36:28.0108 LVL= 22256, 31569, 22946, 32755, AGC= 48, IDX= 498, 0.20,-0.011,-1.840, 0.071,-0.351, PHS= 0.442,-1.445, 0.378, RAW= 148.3,   6.8, CAL= 147.7,   7.3, ROT=   2.3,  -7.3

2025-08-08T21:36:28.624Z,1754688988.624 [DAT](INFO): got valid direction response:
 21:36:28.0108 LVL= 22256, 31569, 22946, 32755, AGC= 48, IDX= 498, 0.20,-0.011,-1.840, 0.071,-0.351, PHS= 0.442,-1.445, 0.378, RAW= 148.3,   6.8, CAL= 147.7,   7.3, ROT=   2.3,  -7.3

2025-08-08T21:36:28.624Z,1754688988.624 [DAT](INFO): #Rx 78: Read range and direction messages.
2025-08-08T21:36:28.625Z,1754688988.625 [DAT](INFO): direction in FSK: [0.991095,0.039807,0.127065]
2025-08-08T21:36:28.626Z,1754688988.626 [DAT](INFO): publishing direction and range info
2025-08-08T21:36:28.630Z,1754688988.630 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=39.607574
2025-08-08T21:36:28.867Z,1754688988.867 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=39.844547
2025-08-08T21:36:29.003Z,1754688989.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 9.600000 m,
      deltaT: 0.504041 s,
      deltaX: -0.200000 m,
      approachRate: -0.396793 m/s,
      rangeRepo size: 4

2025-08-08T21:36:29.009Z,1754688989.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 9.600000 m,
      bearing: 86.178263 deg,
      lat: 36.906034 deg,
      lon: -122.115845 deg,
      deltaT: 0.504041 s,
      deltaX: -0.200000 m,
      approachRate: -0.396793 m/s,
      posRepo size: 4

2025-08-08T21:36:29.010Z,1754688989.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.60 m. 9.80 m.
2025-08-08T21:36:29.017Z,1754688989.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.800000 m,
      nav range: 8.706416 m,
      bearing: 86.191943 deg,
      approach rate: -0.000000 m/s,
      LOS rate: -0.196767 deg/s,
      cmd heading: 77.909611 deg,
      new cmd heading: 77.666005 deg.

2025-08-08T21:36:29.018Z,1754688989.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.355528 target range: 9.800000 and range: 9.80 m.
2025-08-08T21:36:29.120Z,1754688989.120 [DAT](INFO): DAT read: Rx Time:21:36:28.5106 

2025-08-08T21:36:29.120Z,1754688989.120 [DAT](INFO): Rx dataTimestamp_ set to:1754688989.119993
2025-08-08T21:36:29.122Z,1754688989.122 [DAT](INFO): DAT read: Bearing 249.7,  16.8 (Local)

2025-08-08T21:36:29.122Z,1754688989.122 [DAT](INFO): Local bearing/azimuth received:
 Bearing 249.7,  16.8 (Local)

2025-08-08T21:36:29.124Z,1754688989.124 [DAT](INFO): DAT read: Range 11 to 50 :     9.3 m (trip time 6.2 ms) speed 0.4

2025-08-08T21:36:29.130Z,1754688989.130 [DAT](INFO): DAT read: 21:36:28.5106 LVL= 19872, 28209, 22834, 32755, AGC= 48, IDX= 496,-0.45,-2.218, 2.230,-2.148,-2.555, PHS= 0.439,-1.452, 0.364, RAW= 148.0,   7.1, CAL= 147.5,   7.6, ROT=   2.5,  -7.6

2025-08-08T21:36:29.131Z,1754688989.131 [DAT](INFO): got valid direction response:
 21:36:28.5106 LVL= 19872, 28209, 22834, 32755, AGC= 48, IDX= 496,-0.45,-2.218, 2.230,-2.148,-2.555, PHS= 0.439,-1.452, 0.364, RAW= 148.0,   7.1, CAL= 147.5,   7.6, ROT=   2.5,  -7.6

2025-08-08T21:36:29.133Z,1754688989.133 [DAT](INFO): #Rx 79: Read range and direction messages.
2025-08-08T21:36:29.135Z,1754688989.135 [DAT](INFO): direction in FSK: [0.990272,0.043236,0.132256]
2025-08-08T21:36:29.135Z,1754688989.135 [DAT](INFO): publishing direction and range info
2025-08-08T21:36:29.143Z,1754688989.143 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=40.121071
2025-08-08T21:36:29.374Z,1754688989.374 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=40.351334
2025-08-08T21:36:29.428Z,1754688989.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 9.300000 m,
      deltaT: 0.506247 s,
      deltaX: -0.300000 m,
      approachRate: -0.592596 m/s,
      rangeRepo size: 4

2025-08-08T21:36:29.446Z,1754688989.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 9.300000 m,
      bearing: 86.192030 deg,
      lat: 36.906034 deg,
      lon: -122.115845 deg,
      deltaT: 1.010288 s,
      deltaX: -0.500000 m,
      approachRate: -0.494908 m/s,
      posRepo size: 4

2025-08-08T21:36:29.455Z,1754688989.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.30 m. 9.80 m.
2025-08-08T21:36:29.486Z,1754688989.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.800000 m,
      nav range: 8.460859 m,
      bearing: 86.208909 deg,
      approach rate: -0.000000 m/s,
      LOS rate: -0.196767 deg/s,
      cmd heading: 77.666006 deg,
      new cmd heading: 77.414803 deg.

2025-08-08T21:36:29.502Z,1754688989.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.351143 target range: 9.800000 and range: 9.80 m.
2025-08-08T21:36:29.626Z,1754688989.626 [DAT](INFO): DAT read: Rx Time:21:36:29.0104 

2025-08-08T21:36:29.626Z,1754688989.626 [DAT](INFO): Rx dataTimestamp_ set to:1754688989.625687
2025-08-08T21:36:29.627Z,1754688989.627 [DAT](INFO): DAT read: Bearing 249.6,  16.9 (Local)

2025-08-08T21:36:29.628Z,1754688989.628 [DAT](INFO): Local bearing/azimuth received:
 Bearing 249.6,  16.9 (Local)

2025-08-08T21:36:29.630Z,1754688989.630 [DAT](INFO): DAT read: Range 11 to 50 :     9.0 m (trip time 6.0 ms) speed 0.4

2025-08-08T21:36:29.640Z,1754688989.640 [DAT](INFO): DAT read: 21:36:29.0104 LVL= 22160, 28769, 26786, 32755, AGC= 50, IDX= 510,-0.17,-2.765, 1.666,-2.701,-3.102, PHS= 0.439,-1.470, 0.357, RAW= 147.8,   7.3, CAL= 147.3,   7.8, ROT=   2.7,  -7.8

2025-08-08T21:36:29.641Z,1754688989.641 [DAT](INFO): got valid direction response:
 21:36:29.0104 LVL= 22160, 28769, 26786, 32755, AGC= 50, IDX= 510,-0.17,-2.765, 1.666,-2.701,-3.102, PHS= 0.439,-1.470, 0.357, RAW= 147.8,   7.3, CAL= 147.3,   7.8, ROT=   2.7,  -7.8

2025-08-08T21:36:29.641Z,1754688989.641 [DAT](INFO): #Rx 80: Read range and direction messages.
2025-08-08T21:36:29.642Z,1754688989.642 [DAT](INFO): direction in FSK: [0.989648,0.046671,0.135716]
2025-08-08T21:36:29.642Z,1754688989.642 [DAT](INFO): publishing direction and range info
2025-08-08T21:36:29.646Z,1754688989.646 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=40.623981
2025-08-08T21:36:29.878Z,1754688989.878 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=40.856438
2025-08-08T21:36:29.939Z,1754688989.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 9.000000 m,
      deltaT: 0.505694 s,
      deltaX: -0.300000 m,
      approachRate: -0.593244 m/s,
      rangeRepo size: 4

2025-08-08T21:36:29.941Z,1754688989.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 9.000000 m,
      bearing: 85.398877 deg,
      lat: 36.906035 deg,
      lon: -122.115844 deg,
      deltaT: 1.515982 s,
      deltaX: -0.800000 m,
      approachRate: -0.527711 m/s,
      posRepo size: 4

2025-08-08T21:36:29.944Z,1754688989.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.00 m. 9.80 m.
2025-08-08T21:36:29.952Z,1754688989.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.800000 m,
      nav range: 8.125344 m,
      bearing: 86.230773 deg,
      approach rate: -0.000000 m/s,
      LOS rate: -0.196767 deg/s,
      cmd heading: 77.414805 deg,
      new cmd heading: 77.109215 deg.

2025-08-08T21:36:29.955Z,1754688989.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.345810 target range: 9.800000 and range: 9.80 m.
2025-08-08T21:36:30.130Z,1754688990.130 [DAT](INFO): DAT read: Rx Time:21:36:29.5101 

2025-08-08T21:36:30.130Z,1754688990.130 [DAT](INFO): Rx dataTimestamp_ set to:1754688990.129718
2025-08-08T21:36:30.131Z,1754688990.131 [DAT](INFO): DAT read: Bearing 249.3,  17.1 (Local)

2025-08-08T21:36:30.132Z,1754688990.132 [DAT](INFO): Local bearing/azimuth received:
 Bearing 249.3,  17.1 (Local)

2025-08-08T21:36:30.134Z,1754688990.134 [DAT](INFO): DAT read: Range 11 to 50 :     8.6 m (trip time 5.7 ms) speed 0.4

2025-08-08T21:36:30.138Z,1754688990.138 [DAT](INFO): DAT read: 21:36:29.5101 LVL= 23536, 32033, 26882, 32755, AGC= 50, IDX= 507, 0.01,-2.570, 1.849,-2.510,-2.911, PHS= 0.442,-1.479, 0.357, RAW= 147.7,   7.3, CAL= 147.2,   7.9, ROT=   2.8,  -7.9

2025-08-08T21:36:30.139Z,1754688990.139 [DAT](INFO): got valid direction response:
 21:36:29.5101 LVL= 23536, 32033, 26882, 32755, AGC= 50, IDX= 507, 0.01,-2.570, 1.849,-2.510,-2.911, PHS= 0.442,-1.479, 0.357, RAW= 147.7,   7.3, CAL= 147.2,   7.9, ROT=   2.8,  -7.9

2025-08-08T21:36:30.140Z,1754688990.140 [DAT](INFO): #Rx 81: Read range and direction messages.
2025-08-08T21:36:30.141Z,1754688990.141 [DAT](INFO): direction in FSK: [0.989327,0.048386,0.137445]
2025-08-08T21:36:30.141Z,1754688990.141 [DAT](INFO): publishing direction and range info
2025-08-08T21:36:30.154Z,1754688990.154 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=41.131592
2025-08-08T21:36:30.384Z,1754688990.384 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=41.361553
2025-08-08T21:36:30.425Z,1754688990.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 8.600000 m,
      deltaT: 0.504031 s,
      deltaX: -0.400000 m,
      approachRate: -0.793601 m/s,
      rangeRepo size: 4

2025-08-08T21:36:30.443Z,1754688990.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 8.600000 m,
      bearing: 85.386375 deg,
      lat: 36.906035 deg,
      lon: -122.115844 deg,
      deltaT: 2.020013 s,
      deltaX: -1.200000 m,
      approachRate: -0.594055 m/s,
      posRepo size: 4

2025-08-08T21:36:30.455Z,1754688990.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.60 m. 9.80 m.
2025-08-08T21:36:30.473Z,1754688990.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.800000 m,
      nav range: 7.879987 m,
      bearing: 86.257378 deg,
      approach rate: -0.000000 m/s,
      LOS rate: -0.196767 deg/s,
      cmd heading: 77.109216 deg,
      new cmd heading: 76.826589 deg.

2025-08-08T21:36:30.481Z,1754688990.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.340877 target range: 9.800000 and range: 9.80 m.
2025-08-08T21:36:30.633Z,1754688990.633 [DAT](INFO): DAT read: Rx Time:21:36:30.0100 

2025-08-08T21:36:30.634Z,1754688990.634 [DAT](INFO): Rx dataTimestamp_ set to:1754688990.633669
2025-08-08T21:36:30.635Z,1754688990.635 [DAT](INFO): DAT read: Bearing 248.4,  17.4 (Local)

2025-08-08T21:36:30.636Z,1754688990.636 [DAT](INFO): Local bearing/azimuth received:
 Bearing 248.4,  17.4 (Local)

2025-08-08T21:36:30.638Z,1754688990.638 [DAT](INFO): DAT read: Range 11 to 50 :     8.4 m (trip time 5.6 ms) speed 0.5

2025-08-08T21:36:30.650Z,1754688990.650 [DAT](INFO): DAT read: 21:36:30.0100 LVL= 21296, 29377, 25778, 32755, AGC= 48, IDX= 506, 0.15,-0.464,-2.325,-0.407,-0.819, PHS= 0.457,-1.461, 0.368, RAW= 147.6,   6.8, CAL= 147.1,   7.4, ROT=   2.9,  -7.4

2025-08-08T21:36:30.651Z,1754688990.651 [DAT](INFO): got valid direction response:
 21:36:30.0100 LVL= 21296, 29377, 25778, 32755, AGC= 48, IDX= 506, 0.15,-0.464,-2.325,-0.407,-0.819, PHS= 0.457,-1.461, 0.368, RAW= 147.6,   6.8, CAL= 147.1,   7.4, ROT=   2.9,  -7.4

2025-08-08T21:36:30.651Z,1754688990.651 [DAT](INFO): #Rx 82: Read range and direction messages.
2025-08-08T21:36:30.652Z,1754688990.652 [DAT](INFO): direction in FSK: [0.990401,0.050172,0.128796]
2025-08-08T21:36:30.652Z,1754688990.652 [DAT](INFO): publishing direction and range info
2025-08-08T21:36:30.676Z,1754688990.676 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=41.633793
2025-08-08T21:36:30.886Z,1754688990.886 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=41.864494
2025-08-08T21:36:31.054Z,1754688991.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 8.400000 m,
      deltaT: 0.503951 s,
      deltaX: -0.200001 m,
      approachRate: -0.396865 m/s,
      rangeRepo size: 4

2025-08-08T21:36:31.056Z,1754688991.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 8.400000 m,
      bearing: 85.346640 deg,
      lat: 36.906036 deg,
      lon: -122.115844 deg,
      deltaT: 2.523964 s,
      deltaX: -1.400001 m,
      approachRate: -0.554683 m/s,
      posRepo size: 4

2025-08-08T21:36:31.057Z,1754688991.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.40 m. 9.80 m.
2025-08-08T21:36:31.060Z,1754688991.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.800000 m,
      nav range: 7.464005 m,
      bearing: 86.316109 deg,
      approach rate: -0.000000 m/s,
      LOS rate: -0.196767 deg/s,
      cmd heading: 76.826589 deg,
      new cmd heading: 76.451070 deg.

2025-08-08T21:36:31.061Z,1754688991.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.334323 target range: 9.800000 and range: 9.80 m.
2025-08-08T21:36:31.138Z,1754688991.138 [DAT](INFO): DAT read: Rx Time:21:36:30.5097 

2025-08-08T21:36:31.138Z,1754688991.138 [DAT](INFO): Rx dataTimestamp_ set to:1754688991.137752
2025-08-08T21:36:31.139Z,1754688991.139 [DAT](INFO): DAT read: Bearing 248.2,  17.7 (Local)

2025-08-08T21:36:31.140Z,1754688991.140 [DAT](INFO): Local bearing/azimuth received:
 Bearing 248.2,  17.7 (Local)

2025-08-08T21:36:31.142Z,1754688991.142 [DAT](INFO): DAT read: Range 11 to 50 :     8.0 m (trip time 5.3 ms) speed 0.5

2025-08-08T21:36:31.146Z,1754688991.146 [DAT](INFO): DAT read: 21:36:30.5097 LVL= 21456, 28577, 25234, 32755, AGC= 48, IDX= 503, 0.28,-1.380, 3.053,-1.333,-1.733, PHS= 0.456,-1.452, 0.356, RAW= 147.3,   6.9, CAL= 146.8,   7.5, ROT=   3.2,  -7.5

2025-08-08T21:36:31.147Z,1754688991.147 [DAT](INFO): got valid direction response:
 21:36:30.5097 LVL= 21456, 28577, 25234, 32755, AGC= 48, IDX= 503, 0.28,-1.380, 3.053,-1.333,-1.733, PHS= 0.456,-1.452, 0.356, RAW= 147.3,   6.9, CAL= 146.8,   7.5, ROT=   3.2,  -7.5

2025-08-08T21:36:31.149Z,1754688991.149 [DAT](INFO): #Rx 83: Read range and direction messages.
2025-08-08T21:36:31.149Z,1754688991.149 [DAT](INFO): direction in FSK: [0.989899,0.055344,0.130526]
2025-08-08T21:36:31.150Z,1754688991.150 [DAT](INFO): publishing direction and range info
2025-08-08T21:36:31.153Z,1754688991.153 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=42.131229
2025-08-08T21:36:31.390Z,1754688991.390 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=42.368137
2025-08-08T21:36:31.576Z,1754688991.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 8.000000 m,
      deltaT: 0.504083 s,
      deltaX: -0.400000 m,
      approachRate: -0.793519 m/s,
      rangeRepo size: 4

2025-08-08T21:36:31.578Z,1754688991.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 8.000000 m,
      bearing: 85.281459 deg,
      lat: 36.906036 deg,
      lon: -122.115844 deg,
      deltaT: 3.028047 s,
      deltaX: -1.800000 m,
      approachRate: -0.594443 m/s,
      posRepo size: 4

2025-08-08T21:36:31.579Z,1754688991.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.00 m. 9.80 m.
2025-08-08T21:36:31.582Z,1754688991.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.800000 m,
      nav range: 7.143697 m,
      bearing: 86.412187 deg,
      approach rate: -0.000000 m/s,
      LOS rate: -0.196767 deg/s,
      cmd heading: 76.451072 deg,
      new cmd heading: 76.142999 deg.

2025-08-08T21:36:31.583Z,1754688991.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.328946 target range: 9.800000 and range: 9.80 m.
2025-08-08T21:36:31.642Z,1754688991.642 [DAT](INFO): DAT read: Rx Time:21:36:31.0096 

2025-08-08T21:36:31.643Z,1754688991.643 [DAT](INFO): Rx dataTimestamp_ set to:1754688991.642560
2025-08-08T21:36:31.645Z,1754688991.645 [DAT](INFO): DAT read: Bearing 247.9,  17.9 (Local)

2025-08-08T21:36:31.645Z,1754688991.645 [DAT](INFO): Local bearing/azimuth received:
 Bearing 247.9,  17.9 (Local)

2025-08-08T21:36:31.647Z,1754688991.647 [DAT](INFO): DAT read: Range 11 to 50 :     7.8 m (trip time 5.2 ms) speed 0.5

2025-08-08T21:36:31.652Z,1754688991.652 [DAT](INFO): DAT read: 21:36:31.0096 LVL= 22768, 29425, 26914, 32755, AGC= 48, IDX= 502, 0.37, 0.190,-1.685, 0.230,-0.171, PHS= 0.463,-1.469, 0.358, RAW= 147.2,   6.9, CAL= 146.7,   7.5, ROT=   3.3,  -7.5

2025-08-08T21:36:31.653Z,1754688991.653 [DAT](INFO): got valid direction response:
 21:36:31.0096 LVL= 22768, 29425, 26914, 32755, AGC= 48, IDX= 502, 0.37, 0.190,-1.685, 0.230,-0.171, PHS= 0.463,-1.469, 0.358, RAW= 147.2,   6.9, CAL= 146.7,   7.5, ROT=   3.3,  -7.5

2025-08-08T21:36:31.654Z,1754688991.654 [DAT](INFO): #Rx 84: Read range and direction messages.
2025-08-08T21:36:31.655Z,1754688991.655 [DAT](INFO): direction in FSK: [0.989801,0.057072,0.130526]
2025-08-08T21:36:31.655Z,1754688991.655 [DAT](INFO): publishing direction and range info
2025-08-08T21:36:31.659Z,1754688991.659 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=42.636566
2025-08-08T21:36:31.893Z,1754688991.893 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=42.870869
2025-08-08T21:36:32.119Z,1754688992.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 7.800000 m,
      deltaT: 0.504808 s,
      deltaX: -0.200000 m,
      approachRate: -0.396190 m/s,
      rangeRepo size: 4

2025-08-08T21:36:32.126Z,1754688992.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 7.800000 m,
      bearing: 84.637135 deg,
      lat: 36.906037 deg,
      lon: -122.115843 deg,
      deltaT: 3.532855 s,
      deltaX: -2.000000 m,
      approachRate: -0.566114 m/s,
      posRepo size: 4

2025-08-08T21:36:32.127Z,1754688992.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.80 m. 9.80 m.
2025-08-08T21:36:32.130Z,1754688992.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.800000 m,
      nav range: 6.828804 m,
      bearing: 86.540362 deg,
      approach rate: -0.000000 m/s,
      LOS rate: -0.196767 deg/s,
      cmd heading: 76.142997 deg,
      new cmd heading: 75.822096 deg.

2025-08-08T21:36:32.131Z,1754688992.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.323345 target range: 9.800000 and range: 9.80 m.
2025-08-08T21:36:32.146Z,1754688992.146 [DAT](INFO): DAT read: Rx Time:21:36:31.5093 

2025-08-08T21:36:32.146Z,1754688992.146 [DAT](INFO): Rx dataTimestamp_ set to:1754688992.145753
2025-08-08T21:36:32.147Z,1754688992.147 [DAT](INFO): DAT read: Bearing 248.2,  18.2 (Local)

2025-08-08T21:36:32.148Z,1754688992.148 [DAT](INFO): Local bearing/azimuth received:
 Bearing 248.2,  18.2 (Local)

2025-08-08T21:36:32.150Z,1754688992.150 [DAT](INFO): DAT read: Range 11 to 50 :     7.4 m (trip time 4.9 ms) speed 0.5

2025-08-08T21:36:32.154Z,1754688992.154 [DAT](INFO): DAT read: 21:36:31.5093 LVL= 23456, 31057, 27730, 32755, AGC= 49, IDX= 499, 0.41,-1.227,-3.104,-1.201,-1.576, PHS= 0.451,-1.483, 0.331, RAW= 146.8,   7.5, CAL= 146.3,   8.1, ROT=   3.7,  -8.1

2025-08-08T21:36:32.155Z,1754688992.155 [DAT](INFO): got valid direction response:
 21:36:31.5093 LVL= 23456, 31057, 27730, 32755, AGC= 49, IDX= 499, 0.41,-1.227,-3.104,-1.201,-1.576, PHS= 0.451,-1.483, 0.331, RAW= 146.8,   7.5, CAL= 146.3,   8.1, ROT=   3.7,  -8.1

2025-08-08T21:36:32.156Z,1754688992.156 [DAT](INFO): #Rx 85: Read range and direction messages.
2025-08-08T21:36:32.157Z,1754688992.157 [DAT](INFO): direction in FSK: [0.987960,0.063889,0.140901]
2025-08-08T21:36:32.157Z,1754688992.157 [DAT](INFO): publishing direction and range info
2025-08-08T21:36:32.165Z,1754688992.165 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=43.142693
2025-08-08T21:36:32.401Z,1754688992.401 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=43.378876
2025-08-08T21:36:32.570Z,1754688992.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 7.400000 m,
      deltaT: 0.503193 s,
      deltaX: -0.400000 m,
      approachRate: -0.794924 m/s,
      rangeRepo size: 4

2025-08-08T21:36:32.572Z,1754688992.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 7.400000 m,
      bearing: 84.570596 deg,
      lat: 36.906037 deg,
      lon: -122.115843 deg,
      deltaT: 4.036048 s,
      deltaX: -2.400000 m,
      approachRate: -0.594641 m/s,
      posRepo size: 4

2025-08-08T21:36:32.573Z,1754688992.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.40 m. 9.80 m.
2025-08-08T21:36:32.575Z,1754688992.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.800000 m,
      nav range: 6.532602 m,
      bearing: 86.620729 deg,
      approach rate: -0.000000 m/s,
      LOS rate: -0.196767 deg/s,
      cmd heading: 75.822094 deg,
      new cmd heading: 75.556375 deg.

2025-08-08T21:36:32.576Z,1754688992.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.318707 target range: 9.800000 and range: 9.80 m.
2025-08-08T21:36:32.649Z,1754688992.649 [DAT](INFO): DAT read: Rx Time:21:36:32.0092 

2025-08-08T21:36:32.650Z,1754688992.650 [DAT](INFO): Rx dataTimestamp_ set to:1754688992.649656
2025-08-08T21:36:32.652Z,1754688992.652 [DAT](INFO): DAT read: Bearing 247.5,  18.8 (Local)

2025-08-08T21:36:32.653Z,1754688992.653 [DAT](INFO): Local bearing/azimuth received:
 Bearing 247.5,  18.8 (Local)

2025-08-08T21:36:32.656Z,1754688992.656 [DAT](INFO): DAT read: Range 11 to 50 :     7.2 m (trip time 4.8 ms) speed 0.5

2025-08-08T21:36:32.663Z,1754688992.663 [DAT](INFO): DAT read: 21:36:32.0092 LVL= 22064, 31617, 25538, 32755, AGC= 47, IDX= 498, 0.35, 0.360,-1.523, 0.371,-0.010, PHS= 0.472,-1.469, 0.336, RAW= 146.4,   7.1, CAL= 145.9,   7.7, ROT=   4.1,  -7.7

2025-08-08T21:36:32.664Z,1754688992.664 [DAT](INFO): got valid direction response:
 21:36:32.0092 LVL= 22064, 31617, 25538, 32755, AGC= 47, IDX= 498, 0.35, 0.360,-1.523, 0.371,-0.010, PHS= 0.472,-1.469, 0.336, RAW= 146.4,   7.1, CAL= 145.9,   7.7, ROT=   4.1,  -7.7

2025-08-08T21:36:32.664Z,1754688992.664 [DAT](INFO): #Rx 86: Read range and direction messages.
2025-08-08T21:36:32.665Z,1754688992.665 [DAT](INFO): direction in FSK: [0.988447,0.070853,0.133986]
2025-08-08T21:36:32.665Z,1754688992.665 [DAT](INFO): publishing direction and range info
2025-08-08T21:36:32.670Z,1754688992.670 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=43.647610
2025-08-08T21:36:32.901Z,1754688992.901 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=43.879059
2025-08-08T21:36:33.028Z,1754688993.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 7.200000 m,
      deltaT: 0.503903 s,
      deltaX: -0.200000 m,
      approachRate: -0.396902 m/s,
      rangeRepo size: 4

2025-08-08T21:36:33.030Z,1754688993.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 7.200000 m,
      bearing: 84.587902 deg,
      lat: 36.906037 deg,
      lon: -122.115842 deg,
      deltaT: 4.539951 s,
      deltaX: -2.600000 m,
      approachRate: -0.572693 m/s,
      posRepo size: 4

2025-08-08T21:36:33.031Z,1754688993.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.20 m. 9.80 m.
2025-08-08T21:36:33.039Z,1754688993.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.800000 m,
      nav range: 6.261082 m,
      bearing: 86.701083 deg,
      approach rate: -0.000000 m/s,
      LOS rate: -0.196767 deg/s,
      cmd heading: 75.556372 deg,
      new cmd heading: 75.288112 deg.

2025-08-08T21:36:33.040Z,1754688993.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.314025 target range: 9.800000 and range: 9.80 m.
2025-08-08T21:36:33.154Z,1754688993.154 [DAT](INFO): DAT read: Rx Time:21:36:32.5089 

2025-08-08T21:36:33.155Z,1754688993.155 [DAT](INFO): Rx dataTimestamp_ set to:1754688993.154653
2025-08-08T21:36:33.157Z,1754688993.157 [DAT](INFO): DAT read: Bearing 247.6,  19l)

2025-08-08T21:36:33.157Z,1754688993.157 [DAT](INFO): unknown deviceResponse_: Bearing 247.6,  19l)

2025-08-08T21:36:33.159Z,1754688993.159 [DAT](INFO): DAT read: Range 11 to  6.8 m (trip time 4.5 ms) speed 0.6

2025-08-08T21:36:33.160Z,1754688993.160 [DAT](INFO): unknown deviceResponse_: Range 11 to  6.8 m (trip time 4.5 ms) speed 0.6

2025-08-08T21:36:33.165Z,1754688993.165 [DAT](INFO): DAT read: 21:36:32.5089 LVL= 23792, 30193, 27298, 32755, AGC= 48, IDX= 495, 0.26,-1.163,-3.049,-1.173,-1.530, PHS= 0.469,-1.474, 0.313, RAW= 145.9,   7.5, CAL= 145.4,   8.1, ROT=   4.6,  -8.1

2025-08-08T21:36:33.166Z,1754688993.166 [DAT](INFO): got valid direction response:
 21:36:32.5089 LVL= 23792, 30193, 27298, 32755, AGC= 48, IDX= 495, 0.26,-1.163,-3.049,-1.173,-1.530, PHS= 0.469,-1.474, 0.313, RAW= 145.9,   7.5, CAL= 145.4,   8.1, ROT=   4.6,  -8.1

2025-08-08T21:36:33.166Z,1754688993.166 [DAT](INFO): #Rx 87: Read direction message, but no range.
2025-08-08T21:36:33.167Z,1754688993.167 [DAT](INFO): direction in FSK: [0.986835,0.079399,0.140901]
2025-08-08T21:36:33.171Z,1754688993.171 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=44.149418
2025-08-08T21:36:33.405Z,1754688993.405 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=44.382877
2025-08-08T21:36:33.438Z,1754688993.438 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-08T21:36:33.469Z,1754688993.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.80 m. 9.80 m.
2025-08-08T21:36:33.495Z,1754688993.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.800000 m,
      nav range: 5.992669 m,
      bearing: 86.809826 deg,
      approach rate: -0.621167 m/s,
      LOS rate: 0.262927 deg/s,
      cmd heading: 75.288110 deg,
      new cmd heading: 75.628945 deg.

2025-08-08T21:36:33.508Z,1754688993.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.319974 target range: 9.800000 and range: 9.80 m.
2025-08-08T21:36:33.658Z,1754688993.658 [DAT](INFO): DAT read: Rx Time:21:36:33.0087 

2025-08-08T21:36:33.658Z,1754688993.658 [DAT](INFO): Rx dataTimestamp_ set to:1754688993.657707
2025-08-08T21:36:33.659Z,1754688993.659 [DAT](INFO): DAT read: Bearing 247.6,  19.7 (Local)

2025-08-08T21:36:33.660Z,1754688993.660 [DAT](INFO): Local bearing/azimuth received:
 Bearing 247.6,  19.7 (Local)

2025-08-08T21:36:33.662Z,1754688993.662 [DAT](INFO): DAT read: Range 11 to 50 :     6.5 m (trip time 4.3 ms) speed 0.6

2025-08-08T21:36:33.667Z,1754688993.667 [DAT](INFO): DAT read: 21:36:33.0087 LVL= 25056, 30177, 28898, 32755, AGC= 47, IDX= 509, 0.09,-0.853,-2.754,-0.887,-1.227, PHS= 0.476,-1.482, 0.296, RAW= 145.2,   7.6, CAL= 144.8,   8.3, ROT=   5.2,  -8.3

2025-08-08T21:36:33.669Z,1754688993.669 [DAT](INFO): got valid direction response:
 21:36:33.0087 LVL= 25056, 30177, 28898, 32755, AGC= 47, IDX= 509, 0.09,-0.853,-2.754,-0.887,-1.227, PHS= 0.476,-1.482, 0.296, RAW= 145.2,   7.6, CAL= 144.8,   8.3, ROT=   5.2,  -8.3

2025-08-08T21:36:33.669Z,1754688993.669 [DAT](INFO): #Rx 88: Read range and direction messages.
2025-08-08T21:36:33.670Z,1754688993.670 [DAT](INFO): direction in FSK: [0.985453,0.089683,0.144356]
2025-08-08T21:36:33.670Z,1754688993.670 [DAT](INFO): publishing direction and range info
2025-08-08T21:36:33.674Z,1754688993.674 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=44.652416
2025-08-08T21:36:33.893Z,1754688993.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 6.500000 m,
      deltaT: 1.008051 s,
      deltaX: -0.700000 m,
      approachRate: -0.694409 m/s,
      rangeRepo size: 4

2025-08-08T21:36:33.895Z,1754688993.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 6.500000 m,
      bearing: 84.682685 deg,
      lat: 36.906037 deg,
      lon: -122.115843 deg,
      deltaT: 5.548002 s,
      deltaX: -3.300000 m,
      approachRate: -0.594809 m/s,
      posRepo size: 4

2025-08-08T21:36:33.896Z,1754688993.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 6.50 m. 9.80 m.
2025-08-08T21:36:33.899Z,1754688993.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.800000 m,
      nav range: 5.694548 m,
      bearing: 86.928421 deg,
      approach rate: -0.000000 m/s,
      LOS rate: -0.196767 deg/s,
      cmd heading: 75.628943 deg,
      new cmd heading: 75.371200 deg.

2025-08-08T21:36:33.900Z,1754688993.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.315476 target range: 9.800000 and range: 9.80 m.
2025-08-08T21:36:33.917Z,1754688993.917 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=44.894897
2025-08-08T21:36:34.169Z,1754688994.169 [DAT](INFO): DAT read: Rx Time:21:36:33.5084 

2025-08-08T21:36:34.170Z,1754688994.170 [DAT](INFO): Rx dataTimestamp_ set to:1754688994.169513
2025-08-08T21:36:34.171Z,1754688994.171 [DAT](INFO): DAT read: Bearing 247.6,  20.5 (Local)

2025-08-08T21:36:34.171Z,1754688994.171 [DAT](INFO): Local bearing/azimuth received:
 Bearing 247.6,  20.5 (Local)

2025-08-08T21:36:34.173Z,1754688994.173 [DAT](INFO): DAT read: Range 11 to 50 :     6.2 m (trip time 4.1 ms) speed 0.6

2025-08-08T21:36:34.178Z,1754688994.178 [DAT](INFO): DAT read: 21:36:33.5084 LVL= 23120, 30769, 26802, 32755, AGC= 46, IDX= 506,-0.08,-3.035, 1.340,-3.102, 2.864, PHS= 0.486,-1.479, 0.273, RAW= 144.3,   7.8, CAL= 143.9,   8.5, ROT=   6.1,  -8.5

2025-08-08T21:36:34.179Z,1754688994.179 [DAT](INFO): got valid direction response:
 21:36:33.5084 LVL= 23120, 30769, 26802, 32755, AGC= 46, IDX= 506,-0.08,-3.035, 1.340,-3.102, 2.864, PHS= 0.486,-1.479, 0.273, RAW= 144.3,   7.8, CAL= 143.9,   8.5, ROT=   6.1,  -8.5

2025-08-08T21:36:34.179Z,1754688994.179 [DAT](INFO): #Rx 89: Read range and direction messages.
2025-08-08T21:36:34.180Z,1754688994.180 [DAT](INFO): direction in FSK: [0.983416,0.105097,0.147809]
2025-08-08T21:36:34.181Z,1754688994.181 [DAT](INFO): publishing direction and range info
2025-08-08T21:36:34.185Z,1754688994.185 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=45.162827
2025-08-08T21:36:34.278Z,1754688994.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 6.200000 m,
      deltaT: 0.511806 s,
      deltaX: -0.300000 m,
      approachRate: -0.586160 m/s,
      rangeRepo size: 4

2025-08-08T21:36:34.297Z,1754688994.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 6.200000 m,
      bearing: 84.712070 deg,
      lat: 36.906037 deg,
      lon: -122.115843 deg,
      deltaT: 6.059808 s,
      deltaX: -3.600000 m,
      approachRate: -0.594078 m/s,
      posRepo size: 4

2025-08-08T21:36:34.298Z,1754688994.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 6.20 m. 9.80 m.
2025-08-08T21:36:34.304Z,1754688994.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.800000 m,
      nav range: 5.455641 m,
      bearing: 87.043492 deg,
      approach rate: -0.000000 m/s,
      LOS rate: -0.196767 deg/s,
      cmd heading: 75.371199 deg,
      new cmd heading: 75.143686 deg.

2025-08-08T21:36:34.305Z,1754688994.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.311505 target range: 9.800000 and range: 9.80 m.
2025-08-08T21:36:34.421Z,1754688994.421 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=45.399200
2025-08-08T21:36:34.673Z,1754688994.673 [DAT](INFO): DAT read: Rx Time:21:36:34.0083 

2025-08-08T21:36:34.674Z,1754688994.674 [DAT](INFO): Rx dataTimestamp_ set to:1754688994.673582
2025-08-08T21:36:34.675Z,1754688994.675 [DAT](INFO): DAT read: Bearing 247.7,  21.3 (Local)

2025-08-08T21:36:34.675Z,1754688994.675 [DAT](INFO): Local bearing/azimuth received:
 Bearing 247.7,  21.3 (Local)

2025-08-08T21:36:34.678Z,1754688994.678 [DAT](INFO): DAT read: Range 11 to 50 :     6.0 m (trip time 4.0 ms) speed 0.6

2025-08-08T21:36:34.683Z,1754688994.683 [DAT](INFO): DAT read: 21:36:34.0083 LVL= 22064, 32673, 27346, 32755, AGC= 46, IDX= 505,-0.34,-2.028, 2.330,-2.128,-2.424, PHS= 0.497,-1.484, 0.252, RAW= 143.5,   7.9, CAL= 143.0,   8.7, ROT=   7.0,  -8.7

2025-08-08T21:36:34.684Z,1754688994.684 [DAT](INFO): got valid direction response:
 21:36:34.0083 LVL= 22064, 32673, 27346, 32755, AGC= 46, IDX= 505,-0.34,-2.028, 2.330,-2.128,-2.424, PHS= 0.497,-1.484, 0.252, RAW= 143.5,   7.9, CAL= 143.0,   8.7, ROT=   7.0,  -8.7

2025-08-08T21:36:34.685Z,1754688994.685 [DAT](INFO): #Rx 90: Read range and direction messages.
2025-08-08T21:36:34.686Z,1754688994.686 [DAT](INFO): direction in FSK: [0.981126,0.120467,0.151261]
2025-08-08T21:36:34.686Z,1754688994.686 [DAT](INFO): publishing direction and range info
2025-08-08T21:36:34.689Z,1754688994.689 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=45.667267
2025-08-08T21:36:34.911Z,1754688994.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 6.000000 m,
      deltaT: 0.504069 s,
      deltaX: -0.200000 m,
      approachRate: -0.396771 m/s,
      rangeRepo size: 4

2025-08-08T21:36:34.913Z,1754688994.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 6.000000 m,
      bearing: 85.460574 deg,
      lat: 36.906036 deg,
      lon: -122.115843 deg,
      deltaT: 6.563877 s,
      deltaX: -3.800000 m,
      approachRate: -0.578926 m/s,
      posRepo size: 4

2025-08-08T21:36:34.914Z,1754688994.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 6.00 m. 9.80 m.
2025-08-08T21:36:34.917Z,1754688994.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.800000 m,
      nav range: 5.039983 m,
      bearing: 87.331515 deg,
      approach rate: -0.000000 m/s,
      LOS rate: -0.196767 deg/s,
      cmd heading: 75.143685 deg,
      new cmd heading: 74.770227 deg.

2025-08-08T21:36:34.918Z,1754688994.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.304987 target range: 9.800000 and range: 9.80 m.
2025-08-08T21:36:34.925Z,1754688994.925 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=45.903000
2025-08-08T21:36:35.179Z,1754688995.179 [DAT](INFO): DAT read: Rx Time:21:36:34.5080 

2025-08-08T21:36:35.179Z,1754688995.179 [DAT](INFO): Rx dataTimestamp_ set to:1754688995.178709
2025-08-08T21:36:35.180Z,1754688995.180 [DAT](INFO): DAT read: Bearing 247.3,  21.7 (Local)

2025-08-08T21:36:35.181Z,1754688995.181 [DAT](INFO): Local bearing/azimuth received:
 Bearing 247.3,  21.7 (Local)

2025-08-08T21:36:35.183Z,1754688995.183 [DAT](INFO): DAT read: Range 11 to 50 :     5.4 m (trip time 3.6 ms) speed 0.7

2025-08-08T21:36:35.187Z,1754688995.187 [DAT](INFO): DAT read: 21:36:34.5080 LVL= 25328, 31953, 29474, 32755, AGC= 46, IDX= 501, 0.26,-1.624, 2.711,-1.742,-2.032, PHS= 0.510,-1.496, 0.246, RAW= 143.0,   7.9, CAL= 142.6,   8.7, ROT=   7.4,  -8.7

2025-08-08T21:36:35.189Z,1754688995.189 [DAT](INFO): got valid direction response:
 21:36:34.5080 LVL= 25328, 31953, 29474, 32755, AGC= 46, IDX= 501, 0.26,-1.624, 2.711,-1.742,-2.032, PHS= 0.510,-1.496, 0.246, RAW= 143.0,   7.9, CAL= 142.6,   8.7, ROT=   7.4,  -8.7

2025-08-08T21:36:35.189Z,1754688995.189 [DAT](INFO): #Rx 91: Read range and direction messages.
2025-08-08T21:36:35.190Z,1754688995.190 [DAT](INFO): direction in FSK: [0.980261,0.127314,0.151261]
2025-08-08T21:36:35.190Z,1754688995.190 [DAT](INFO): publishing direction and range info
2025-08-08T21:36:35.194Z,1754688995.194 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=46.172153
2025-08-08T21:36:35.429Z,1754688995.429 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=46.406948
2025-08-08T21:36:35.438Z,1754688995.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 5.400000 m,
      deltaT: 0.505127 s,
      deltaX: -0.600000 m,
      approachRate: -1.187820 m/s,
      rangeRepo size: 4

2025-08-08T21:36:35.446Z,1754688995.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 5.400000 m,
      bearing: 86.458885 deg,
      lat: 36.906035 deg,
      lon: -122.115843 deg,
      deltaT: 7.069004 s,
      deltaX: -4.400000 m,
      approachRate: -0.622436 m/s,
      posRepo size: 4

2025-08-08T21:36:35.454Z,1754688995.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 5.40 m. 9.80 m.
2025-08-08T21:36:35.478Z,1754688995.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.800000 m,
      nav range: 4.717388 m,
      bearing: 87.632872 deg,
      approach rate: -0.000000 m/s,
      LOS rate: -0.196767 deg/s,
      cmd heading: 74.770224 deg,
      new cmd heading: 74.458967 deg.

2025-08-08T21:36:35.492Z,1754688995.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.299554 target range: 9.800000 and range: 9.80 m.
2025-08-08T21:36:35.681Z,1754688995.681 [DAT](INFO): DAT read: Rx Time:21:36:35.0079 

2025-08-08T21:36:35.682Z,1754688995.682 [DAT](INFO): Rx dataTimestamp_ set to:1754688995.681531
2025-08-08T21:36:35.683Z,1754688995.683 [DAT](INFO): DAT read: Bearing 247.9,  22.7 (Local)

2025-08-08T21:36:35.683Z,1754688995.683 [DAT](INFO): Local bearing/azimuth received:
 Bearing 247.9,  22.7 (Local)

2025-08-08T21:36:35.686Z,1754688995.686 [DAT](INFO): DAT read: Range 11 to 50 :     5.3 m (trip time 3.5 ms) speed 0.7

2025-08-08T21:36:35.690Z,1754688995.690 [DAT](INFO): DAT read: 21:36:35.0079 LVL= 25376, 32753, 29682, 32755, AGC= 46, IDX= 500,-0.02,-1.338, 2.978,-1.503,-1.751, PHS= 0.514,-1.510, 0.204, RAW= 141.8,   8.4, CAL= 141.4,   9.2, ROT=   8.6,  -9.2

2025-08-08T21:36:35.691Z,1754688995.691 [DAT](INFO): got valid direction response:
 21:36:35.0079 LVL= 25376, 32753, 29682, 32755, AGC= 46, IDX= 500,-0.02,-1.338, 2.978,-1.503,-1.751, PHS= 0.514,-1.510, 0.204, RAW= 141.8,   8.4, CAL= 141.4,   9.2, ROT=   8.6,  -9.2

2025-08-08T21:36:35.691Z,1754688995.691 [DAT](INFO): #Rx 92: Read range and direction messages.
2025-08-08T21:36:35.692Z,1754688995.692 [DAT](INFO): direction in FSK: [0.976037,0.147612,0.159881]
2025-08-08T21:36:35.693Z,1754688995.693 [DAT](INFO): publishing direction and range info
2025-08-08T21:36:35.699Z,1754688995.699 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=46.677483
2025-08-08T21:36:35.934Z,1754688995.934 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=46.911392
2025-08-08T21:36:36.098Z,1754688996.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 5.300000 m,
      deltaT: 0.502822 s,
      deltaX: -0.100000 m,
      approachRate: -0.198877 m/s,
      rangeRepo size: 4

2025-08-08T21:36:36.104Z,1754688996.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 5.300000 m,
      bearing: 87.214011 deg,
      lat: 36.906035 deg,
      lon: -122.115843 deg,
      deltaT: 7.571826 s,
      deltaX: -4.500000 m,
      approachRate: -0.594308 m/s,
      posRepo size: 4

2025-08-08T21:36:36.105Z,1754688996.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 5.30 m. 9.80 m.
2025-08-08T21:36:36.112Z,1754688996.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.800000 m,
      nav range: 4.296445 m,
      bearing: 88.138832 deg,
      approach rate: -0.000000 m/s,
      LOS rate: -0.196767 deg/s,
      cmd heading: 74.458966 deg,
      new cmd heading: 74.069399 deg.

2025-08-08T21:36:36.113Z,1754688996.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.292755 target range: 9.800000 and range: 9.80 m.
2025-08-08T21:36:36.186Z,1754688996.186 [DAT](INFO): DAT read: Rx Time:21:36:35.5076 

2025-08-08T21:36:36.187Z,1754688996.187 [DAT](INFO): Rx dataTimestamp_ set to:1754688996.186614
2025-08-08T21:36:36.189Z,1754688996.189 [DAT](INFO): DAT read: Bearing 248.6,  24.0 (Local)

2025-08-08T21:36:36.190Z,1754688996.190 [DAT](INFO): Local bearing/azimuth received:
 Bearing 248.6,  24.0 (Local)

2025-08-08T21:36:36.193Z,1754688996.193 [DAT](INFO): DAT read: Range 11 to 50 :     4.8 m (trip time 3.2 ms) speed 0.7

2025-08-08T21:36:36.200Z,1754688996.200 [DAT](INFO): DAT read: 21:36:35.5076 LVL= 26208, 32753, 30898, 32755, AGC= 46, IDX= 497,-0.31, 2.824, 0.824, 2.599, 2.402, PHS= 0.524,-1.533, 0.153, RAW= 140.3,   9.1, CAL= 139.8,   9.9, ROT=  10.2,  -9.9

2025-08-08T21:36:36.201Z,1754688996.201 [DAT](INFO): got valid direction response:
 21:36:35.5076 LVL= 26208, 32753, 30898, 32755, AGC= 46, IDX= 497,-0.31, 2.824, 0.824, 2.599, 2.402, PHS= 0.524,-1.533, 0.153, RAW= 140.3,   9.1, CAL= 139.8,   9.9, ROT=  10.2,  -9.9

2025-08-08T21:36:36.201Z,1754688996.201 [DAT](INFO): #Rx 93: Read range and direction messages.
2025-08-08T21:36:36.202Z,1754688996.202 [DAT](INFO): direction in FSK: [0.969540,0.174448,0.171929]
2025-08-08T21:36:36.203Z,1754688996.203 [DAT](INFO): publishing direction and range info
2025-08-08T21:36:36.206Z,1754688996.206 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=47.184200
2025-08-08T21:36:36.437Z,1754688996.437 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=47.414803
2025-08-08T21:36:36.566Z,1754688996.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 4.800000 m,
      deltaT: 0.505083 s,
      deltaX: -0.500000 m,
      approachRate: -0.989936 m/s,
      rangeRepo size: 4

2025-08-08T21:36:36.572Z,1754688996.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 4.800000 m,
      bearing: 88.058912 deg,
      lat: 36.906035 deg,
      lon: -122.115841 deg,
      deltaT: 8.076909 s,
      deltaX: -5.000000 m,
      approachRate: -0.619049 m/s,
      posRepo size: 4

2025-08-08T21:36:36.573Z,1754688996.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 4.80 m. 9.80 m.
2025-08-08T21:36:36.580Z,1754688996.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.800000 m,
      nav range: 3.983637 m,
      bearing: 88.615879 deg,
      approach rate: -0.000000 m/s,
      LOS rate: -0.196767 deg/s,
      cmd heading: 74.069399 deg,
      new cmd heading: 73.793097 deg.

2025-08-08T21:36:36.581Z,1754688996.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.287933 target range: 9.800000 and range: 9.80 m.
2025-08-08T21:36:36.690Z,1754688996.690 [DAT](INFO): DAT read: Rx Time:21:36:36.0074 

2025-08-08T21:36:36.690Z,1754688996.690 [DAT](INFO): Rx dataTimestamp_ set to:1754688996.689843
2025-08-08T21:36:36.691Z,1754688996.691 [DAT](INFO): DAT read: Bearing 247.0,  24.9 (Local)

2025-08-08T21:36:36.692Z,1754688996.692 [DAT](INFO): Local bearing/azimuth received:
 Bearing 247.0,  24.9 (Local)

2025-08-08T21:36:36.694Z,1754688996.694 [DAT](INFO): DAT read: Range 11 to 50 :     4.5 m (trip time 3.0 ms) speed 0.6

2025-08-08T21:36:36.699Z,1754688996.699 [DAT](INFO): DAT read: 21:36:36.0074 LVL= 23088, 31697, 29042, 32755, AGC= 45, IDX= 511, 0.30,-0.272,-2.306,-0.531,-0.753, PHS= 0.583,-1.508, 0.178, RAW= 139.5,   7.8, CAL= 139.1,   8.7, ROT=  10.9,  -8.7

2025-08-08T21:36:36.700Z,1754688996.700 [DAT](INFO): got valid direction response:
 21:36:36.0074 LVL= 23088, 31697, 29042, 32755, AGC= 45, IDX= 511, 0.30,-0.272,-2.306,-0.531,-0.753, PHS= 0.583,-1.508, 0.178, RAW= 139.5,   7.8, CAL= 139.1,   8.7, ROT=  10.9,  -8.7

2025-08-08T21:36:36.700Z,1754688996.700 [DAT](INFO): #Rx 94: Read range and direction messages.
2025-08-08T21:36:36.701Z,1754688996.701 [DAT](INFO): direction in FSK: [0.970660,0.186920,0.151261]
2025-08-08T21:36:36.701Z,1754688996.701 [DAT](INFO): publishing direction and range info
2025-08-08T21:36:36.706Z,1754688996.706 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=47.683735
2025-08-08T21:36:36.941Z,1754688996.941 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=47.918991
2025-08-08T21:36:36.966Z,1754688996.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 4.500000 m,
      deltaT: 0.503229 s,
      deltaX: -0.300000 m,
      approachRate: -0.596150 m/s,
      rangeRepo size: 4

2025-08-08T21:36:36.989Z,1754688996.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 4.500000 m,
      bearing: 88.654642 deg,
      lat: 36.906035 deg,
      lon: -122.115841 deg,
      deltaT: 8.580138 s,
      deltaX: -5.300000 m,
      approachRate: -0.617706 m/s,
      posRepo size: 4

2025-08-08T21:36:36.998Z,1754688996.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 4.50 m. 9.80 m.
2025-08-08T21:36:37.007Z,1754688997.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.800000 m,
      nav range: 3.734325 m,
      bearing: 89.042338 deg,
      approach rate: -0.000000 m/s,
      LOS rate: -0.196767 deg/s,
      cmd heading: 73.793097 deg,
      new cmd heading: 73.569733 deg.

2025-08-08T21:36:37.007Z,1754688997.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.284034 target range: 9.800000 and range: 9.80 m.
2025-08-08T21:36:37.193Z,1754688997.193 [DAT](INFO): DAT read: Rx Time:21:36:36.5071 

2025-08-08T21:36:37.194Z,1754688997.194 [DAT](INFO): Rx dataTimestamp_ set to:1754688997.193574
2025-08-08T21:36:37.195Z,1754688997.195 [DAT](INFO): DAT read: Bearing 247.9,  26.6 (Local)

2025-08-08T21:36:37.195Z,1754688997.195 [DAT](INFO): Local bearing/azimuth received:
 Bearing 247.9,  26.6 (Local)

2025-08-08T21:36:37.198Z,1754688997.198 [DAT](INFO): DAT read: Range 11 to 50 :     4.1 m (trip time 2.7 ms) speed 0.6

2025-08-08T21:36:37.203Z,1754688997.203 [DAT](INFO): DAT read: 21:36:36.5071 LVL= 20336, 32753, 22994, 32755, AGC= 44, IDX= 508, 0.08,-2.634, 1.605,-2.967,-3.127, PHS= 0.595,-1.506, 0.115, RAW= 137.4,   8.4, CAL= 137.2,   9.4, ROT=  12.8,  -9.4

2025-08-08T21:36:37.207Z,1754688997.207 [DAT](INFO): got valid direction response:
 21:36:36.5071 LVL= 20336, 32753, 22994, 32755, AGC= 44, IDX= 508, 0.08,-2.634, 1.605,-2.967,-3.127, PHS= 0.595,-1.506, 0.115, RAW= 137.4,   8.4, CAL= 137.2,   9.4, ROT=  12.8,  -9.4

2025-08-08T21:36:37.208Z,1754688997.208 [DAT](INFO): #Rx 95: Read range and direction messages.
2025-08-08T21:36:37.212Z,1754688997.212 [DAT](INFO): direction in FSK: [0.962055,0.218574,0.163326]
2025-08-08T21:36:37.213Z,1754688997.213 [DAT](INFO): publishing direction and range info
2025-08-08T21:36:37.238Z,1754688997.238 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=48.215286
2025-08-08T21:36:37.402Z,1754688997.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 4.100000 m,
      deltaT: 0.503731 s,
      deltaX: -0.400000 m,
      approachRate: -0.794075 m/s,
      rangeRepo size: 4

2025-08-08T21:36:37.408Z,1754688997.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 4.100000 m,
      bearing: 90.144691 deg,
      lat: 36.906034 deg,
      lon: -122.115841 deg,
      deltaT: 9.083869 s,
      deltaX: -5.700000 m,
      approachRate: -0.627486 m/s,
      posRepo size: 4

2025-08-08T21:36:37.409Z,1754688997.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 4.10 m. 9.80 m.
2025-08-08T21:36:37.416Z,1754688997.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.800000 m,
      nav range: 3.454623 m,
      bearing: 89.613192 deg,
      approach rate: -0.000000 m/s,
      LOS rate: -0.196767 deg/s,
      cmd heading: 73.569737 deg,
      new cmd heading: 73.299720 deg.

2025-08-08T21:36:37.417Z,1754688997.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.279321 target range: 9.800000 and range: 9.80 m.
2025-08-08T21:36:37.448Z,1754688997.448 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=48.425697
2025-08-08T21:36:37.699Z,1754688997.699 [DAT](INFO): DAT read: Rx Time:21:36:37.0069 

2025-08-08T21:36:37.700Z,1754688997.700 [DAT](INFO): Rx dataTimestamp_ set to:1754688997.699553
2025-08-08T21:36:37.702Z,1754688997.702 [DAT](INFO): DAT read: Bearing 249.2,  28.5 (Local)

2025-08-08T21:36:37.702Z,1754688997.702 [DAT](INFO): Local bearing/azimuth received:
 Bearing 249.2,  28.5 (Local)

2025-08-08T21:36:37.705Z,1754688997.705 [DAT](INFO): DAT read: Range 11 to 50 :     3.8 m (trip time 2.5 ms) speed 0.6

2025-08-08T21:36:37.712Z,1754688997.712 [DAT](INFO): DAT read: 21:36:37.0069 LVL= 21264, 32753, 23394, 32755, AGC= 44, IDX= 506,-0.09, 2.158, 0.081, 1.733, 1.651, PHS= 0.609,-1.525, 0.038, RAW= 135.0,   9.2, CAL= 134.8,  10.3, ROT=  15.2, -10.3

2025-08-08T21:36:37.713Z,1754688997.713 [DAT](INFO): got valid direction response:
 21:36:37.0069 LVL= 21264, 32753, 23394, 32755, AGC= 44, IDX= 506,-0.09, 2.158, 0.081, 1.733, 1.651, PHS= 0.609,-1.525, 0.038, RAW= 135.0,   9.2, CAL= 134.8,  10.3, ROT=  15.2, -10.3

2025-08-08T21:36:37.713Z,1754688997.713 [DAT](INFO): #Rx 96: Read range and direction messages.
2025-08-08T21:36:37.714Z,1754688997.714 [DAT](INFO): direction in FSK: [0.949465,0.257964,0.178802]
2025-08-08T21:36:37.714Z,1754688997.714 [DAT](INFO): publishing direction and range info
2025-08-08T21:36:37.719Z,1754688997.719 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=48.696560
2025-08-08T21:36:37.918Z,1754688997.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.800000 m,
      deltaT: 0.505979 s,
      deltaX: -0.300000 m,
      approachRate: -0.592910 m/s,
      rangeRepo size: 4

2025-08-08T21:36:37.924Z,1754688997.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 3.800000 m,
      bearing: 91.238268 deg,
      lat: 36.906034 deg,
      lon: -122.115841 deg,
      deltaT: 9.589848 s,
      deltaX: -6.000000 m,
      approachRate: -0.625662 m/s,
      posRepo size: 4

2025-08-08T21:36:37.925Z,1754688997.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 3.80 m. 9.80 m.
2025-08-08T21:36:37.932Z,1754688997.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.800000 m,
      nav range: 3.146716 m,
      bearing: 90.540878 deg,
      approach rate: -0.000000 m/s,
      LOS rate: -0.196767 deg/s,
      cmd heading: 73.299719 deg,
      new cmd heading: 72.995036 deg.

2025-08-08T21:36:37.933Z,1754688997.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.274004 target range: 9.800000 and range: 9.80 m.
2025-08-08T21:36:37.954Z,1754688997.954 [DAT](INFO): DAT read: Rx Time:21:36:37.5066 

2025-08-08T21:36:37.955Z,1754688997.955 [DAT](INFO): Rx dataTimestamp_ set to:1754688997.954282
2025-08-08T21:36:37.959Z,1754688997.959 [DAT](INFO): DAT read: Bearing 250.5,  30.4 (Local)

2025-08-08T21:36:37.960Z,1754688997.960 [DAT](INFO): Local bearing/azimuth received:
 Bearing 250.5,  30.4 (Local)

2025-08-08T21:36:37.963Z,1754688997.963 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=48.940022
2025-08-08T21:36:38.202Z,1754688998.202 [DAT](INFO): DAT read: Range 11 to 50 :     3.3 m (trip time 2.2 ms) speed 0.6

2025-08-08T21:36:38.208Z,1754688998.208 [DAT](INFO): DAT read: 21:36:37.5066 LVL= 23760, 32753, 28562, 32755, AGC= 45, IDX= 503,-0.22, 0.062,-2.055,-0.458,-0.460, PHS= 0.624,-1.550,-0.042, RAW= 132.6,  10.1, CAL= 132.3,  11.2, ROT=  17.7, -11.2

2025-08-08T21:36:38.210Z,1754688998.210 [DAT](INFO): got valid direction response:
 21:36:37.5066 LVL= 23760, 32753, 28562, 32755, AGC= 45, IDX= 503,-0.22, 0.062,-2.055,-0.458,-0.460, PHS= 0.624,-1.550,-0.042, RAW= 132.6,  10.1, CAL= 132.3,  11.2, ROT=  17.7, -11.2

2025-08-08T21:36:38.211Z,1754688998.211 [DAT](INFO): #Rx 97: Read range and direction messages.
2025-08-08T21:36:38.212Z,1754688998.212 [DAT](INFO): direction in FSK: [0.934518,0.298243,0.194234]
2025-08-08T21:36:38.212Z,1754688998.212 [DAT](INFO): publishing direction and range info
2025-08-08T21:36:38.215Z,1754688998.215 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=49.193493
2025-08-08T21:36:38.371Z,1754688998.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.300000 m,
      deltaT: 0.500904 s,
      deltaX: -0.500000 m,
      approachRate: -0.998195 m/s,
      rangeRepo size: 4

2025-08-08T21:36:38.378Z,1754688998.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 3.300000 m,
      bearing: 93.508890 deg,
      lat: 36.906033 deg,
      lon: -122.115842 deg,
      deltaT: 10.090752 s,
      deltaX: -6.500000 m,
      approachRate: -0.644154 m/s,
      posRepo size: 4

2025-08-08T21:36:38.379Z,1754688998.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 3.30 m. 9.80 m.
2025-08-08T21:36:38.386Z,1754688998.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.800000 m,
      nav range: 2.888154 m,
      bearing: 91.497705 deg,
      approach rate: -0.000000 m/s,
      LOS rate: -0.196767 deg/s,
      cmd heading: 72.995038 deg,
      new cmd heading: 72.728372 deg.

2025-08-08T21:36:38.387Z,1754688998.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.269350 target range: 9.800000 and range: 9.80 m.
2025-08-08T21:36:38.456Z,1754688998.456 [DAT](INFO): DAT read: Rx Time:21:36:38.0065 

2025-08-08T21:36:38.457Z,1754688998.457 [DAT](INFO): Rx dataTimestamp_ set to:1754688998.456376
2025-08-08T21:36:38.459Z,1754688998.459 [DAT](INFO): DAT read: Bearing 252.5,  32.7 (Local)

2025-08-08T21:36:38.461Z,1754688998.461 [DAT](INFO): Local bearing/azimuth received:
 Bearing 252.5,  32.7 (Local)

2025-08-08T21:36:38.463Z,1754688998.463 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=49.440327
2025-08-08T21:36:38.706Z,1754688998.706 [DAT](INFO): DAT read: Range 11 to 50 :     3.2 m (trip time 2.1 ms) speed 0.6

2025-08-08T21:36:38.711Z,1754688998.711 [DAT](INFO): DAT read: 21:36:38.0065 LVL= 26464, 32753, 26386, 32755, AGC= 45, IDX= 502,-0.29, 0.344,-1.773,-0.276,-0.177, PHS= 0.623,-1.551,-0.142, RAW= 129.7,  11.2, CAL= 129.4,  12.4, ROT=  20.6, -12.4

2025-08-08T21:36:38.713Z,1754688998.713 [DAT](INFO): got valid direction response:
 21:36:38.0065 LVL= 26464, 32753, 26386, 32755, AGC= 45, IDX= 502,-0.29, 0.344,-1.773,-0.276,-0.177, PHS= 0.623,-1.551,-0.142, RAW= 129.7,  11.2, CAL= 129.4,  12.4, ROT=  20.6, -12.4

2025-08-08T21:36:38.713Z,1754688998.713 [DAT](INFO): #Rx 98: Read range and direction messages.
2025-08-08T21:36:38.714Z,1754688998.714 [DAT](INFO): direction in FSK: [0.914223,0.343634,0.214735]
2025-08-08T21:36:38.714Z,1754688998.714 [DAT](INFO): publishing direction and range info
2025-08-08T21:36:38.718Z,1754688998.718 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=49.695805
2025-08-08T21:36:38.829Z,1754688998.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 3.200000 m,
      deltaT: 0.503898 s,
      deltaX: -0.100000 m,
      approachRate: -0.198453 m/s,
      rangeRepo size: 4

2025-08-08T21:36:38.837Z,1754688998.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 3.200000 m,
      bearing: 96.518072 deg,
      lat: 36.906032 deg,
      lon: -122.115842 deg,
      deltaT: 10.594650 s,
      deltaX: -6.600000 m,
      approachRate: -0.622956 m/s,
      posRepo size: 4

2025-08-08T21:36:38.839Z,1754688998.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 3.20 m. 9.80 m.
2025-08-08T21:36:38.855Z,1754688998.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   ProNav: 
      ac range: 9.800000 m,
      nav range: 2.608912 m,
      bearing: 92.735608 deg,
      approach rate: -0.000000 m/s,
      LOS rate: -0.196767 deg/s,
      cmd heading: 72.728373 deg,
      new cmd heading: 72.460326 deg.

2025-08-08T21:36:38.861Z,1754688998.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 1.264671 target range: 9.800000 and range: 9.80 m.
2025-08-08T21:36:38.961Z,1754688998.961 [DAT](INFO): DAT read: Rx Time:21:36:38.5062 

2025-08-08T21:36:38.963Z,1754688998.963 [DAT](INFO): Rx dataTimestamp_ set to:1754688998.961758
2025-08-08T21:36:38.966Z,1754688998.966 [DAT](INFO): DAT read: Bearing 254.1,  35.4 (Local)

2025-08-08T21:36:38.967Z,1754688998.967 [DAT](INFO): Local bearing/azimuth received:
 Bearing 254.1,  35.4 (Local)

2025-08-08T21:36:38.972Z,1754688998.972 [DAT](INFO): DAT read: Range 11 to 50 :     2.7 m (trip time 1.8 ms) speed 0.5

2025-08-08T21:36:38.975Z,1754688998.975 [DAT](ERROR): #Rx 99: Read range message, but no direction.
2025-08-08T21:36:38.979Z,1754688998.979 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=49.956055
2025-08-08T21:36:39.213Z,1754688999.213 [DAT](INFO): DAT read: 21:36:38.5062 LVL= 24400, 32593, 26482, 32755, AGC= 44, IDX= 499,-0.25,-1.455, 2.732,-2.188,-1.993, PHS= 0.639,-1.514,-0.239, RAW= 126.1,  11.9, CAL= 126.1,  13.1, ROT=  23.9, -13.1

2025-08-08T21:36:39.214Z,1754688999.214 [DAT](INFO): got valid direction response:
 21:36:38.5062 LVL= 24400, 32593, 26482, 32755, AGC= 44, IDX= 499,-0.25,-1.455, 2.732,-2.188,-1.993, PHS= 0.639,-1.514,-0.239, RAW= 126.1,  11.9, CAL= 126.1,  13.1, ROT=  23.9, -13.1

2025-08-08T21:36:39.214Z,1754688999.214 [DAT](INFO): #Rx 100: Read direction message, but no range.
2025-08-08T21:36:39.215Z,1754688999.215 [DAT](INFO): direction in FSK: [0.890461,0.394598,0.226651]
2025-08-08T21:36:39.222Z,1754688999.222 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=50.200317
2025-08-08T21:36:39.351Z,1754688999.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.700000 m,
      deltaT: 0.257403 s,
      deltaX: -0.500000 m,
      approachRate: -1.942479 m/s,
      rangeRepo size: 4

2025-08-08T21:36:39.355Z,1754688999.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.700000 m,
      bearing: 99.831244 deg,
      lat: 36.906032 deg,
      lon: -122.115843 deg,
      deltaT: 10.852053 s,
      deltaX: -7.100000 m,
      approachRate: -0.654254 m/s,
      posRepo size: 4

2025-08-08T21:36:39.357Z,1754688999.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Intercept lockout. Range: 2.70 m.
2025-08-08T21:36:39.357Z,1754688999.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: INTERCEPT_LOCKOUT
2025-08-08T21:36:39.465Z,1754688999.465 [DAT](INFO): DAT read: Rx Time:21:36:39.0061 

2025-08-08T21:36:39.467Z,1754688999.467 [DAT](INFO): Rx dataTimestamp_ set to:1754688999.465442
2025-08-08T21:36:39.470Z,1754688999.470 [DAT](INFO): DAT read: Bearing 256.0,  38.3 (Local)

2025-08-08T21:36:39.471Z,1754688999.471 [DAT](INFO): Local bearing/azimuth received:
 Bearing 256.0,  38.3 (Local)

2025-08-08T21:36:39.482Z,1754688999.482 [DAT](INFO): DAT read: Range 11 to 50 :     2.6 m (trip time 1.7 ms) speed 0.5

2025-08-08T21:36:39.484Z,1754688999.484 [DAT](ERROR): #Rx 101: Read range message, but no direction.
2025-08-08T21:36:39.500Z,1754688999.500 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=50.465679
2025-08-08T21:36:39.717Z,1754688999.717 [DAT](INFO): DAT read: 21:36:39.0061 LVL= 32160, 31425, 20898, 32755, AGC= 44, IDX= 498,-0.19,-0.535,-2.642,-1.399,-1.101, PHS= 0.668,-1.497,-0.342, RAW= 122.2,  12.5, CAL= 122.7,  13.7, ROT=  27.3, -13.7

2025-08-08T21:36:39.718Z,1754688999.718 [DAT](INFO): got valid direction response:
 21:36:39.0061 LVL= 32160, 31425, 20898, 32755, AGC= 44, IDX= 498,-0.19,-0.535,-2.642,-1.399,-1.101, PHS= 0.668,-1.497,-0.342, RAW= 122.2,  12.5, CAL= 122.7,  13.7, ROT=  27.3, -13.7

2025-08-08T21:36:39.718Z,1754688999.718 [DAT](INFO): #Rx 102: Read direction message, but no range.
2025-08-08T21:36:39.719Z,1754688999.719 [DAT](INFO): direction in FSK: [0.863335,0.445601,0.236838]
2025-08-08T21:36:39.723Z,1754688999.723 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=50.700584
2025-08-08T21:36:39.881Z,1754688999.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.600000 m,
      deltaT: 0.503684 s,
      deltaX: -0.100000 m,
      approachRate: -0.198537 m/s,
      rangeRepo size: 4

2025-08-08T21:36:39.883Z,1754688999.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.600000 m,
      bearing: 104.532531 deg,
      lat: 36.906031 deg,
      lon: -122.115843 deg,
      deltaT: 0.503684 s,
      deltaX: -0.100000 m,
      approachRate: -0.198537 m/s,
      posRepo size: 4

2025-08-08T21:36:39.969Z,1754688999.969 [DAT](INFO): DAT read: Rx Time:21:36:39.5058 

2025-08-08T21:36:39.971Z,1754688999.971 [DAT](INFO): Rx dataTimestamp_ set to:1754688999.970063
2025-08-08T21:36:39.975Z,1754688999.975 [DAT](INFO): DAT read: Bearing 243.9,  26.4 (Local)

2025-08-08T21:36:39.977Z,1754688999.977 [DAT](INFO): Local bearing/azimuth received:
 Bearing 243.9,  26.4 (Local)

2025-08-08T21:36:39.983Z,1754688999.983 [DAT](INFO): DAT read: Range 11 to 50 :     2.1 m (trip time 1.4 ms) speed 0.4

2025-08-08T21:36:39.986Z,1754688999.986 [DAT](ERROR): #Rx 103: Read range message, but no direction.
2025-08-08T21:36:39.991Z,1754688999.991 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=50.968079
2025-08-08T21:36:40.224Z,1754689000.224 [DAT](INFO): DAT read: 21:36:39.5058 LVL= 32752, 29969, 17330, 32755, AGC= 46, IDX= 495,-0.16,-0.744,-2.780,-1.078,-1.282, PHS= 0.639,-1.453, 0.160, RAW= 137.4,   6.9, CAL= 137.2,   7.9, ROT=  12.8,  -7.9

2025-08-08T21:36:40.225Z,1754689000.225 [DAT](INFO): got valid direction response:
 21:36:39.5058 LVL= 32752, 29969, 17330, 32755, AGC= 46, IDX= 495,-0.16,-0.744,-2.780,-1.078,-1.282, PHS= 0.639,-1.453, 0.160, RAW= 137.4,   6.9, CAL= 137.2,   7.9, ROT=  12.8,  -7.9

2025-08-08T21:36:40.226Z,1754689000.226 [DAT](INFO): #Rx 104: Read direction message, but no range.
2025-08-08T21:36:40.227Z,1754689000.227 [DAT](INFO): direction in FSK: [0.965895,0.219446,0.137445]
2025-08-08T21:36:40.234Z,1754689000.234 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=51.211910
2025-08-08T21:36:40.392Z,1754689000.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.100000 m,
      deltaT: 0.504621 s,
      deltaX: -0.500000 m,
      approachRate: -0.990843 m/s,
      rangeRepo size: 4

2025-08-08T21:36:40.398Z,1754689000.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 2.100000 m,
      bearing: 108.376087 deg,
      lat: 36.906031 deg,
      lon: -122.115843 deg,
      deltaT: 0.504621 s,
      deltaX: -0.500000 m,
      approachRate: -0.990843 m/s,
      posRepo size: 4

2025-08-08T21:36:40.470Z,1754689000.470 [DAT](INFO): DAT read: Rx Time:21:36:40.0057 

2025-08-08T21:36:40.471Z,1754689000.471 [DAT](INFO): Rx dataTimestamp_ set to:1754689000.470479
2025-08-08T21:36:40.472Z,1754689000.472 [DAT](INFO): DAT read: Range 11 to 50 :     2.0 m (trip time 1.3 ms) speed 0.4

2025-08-08T21:36:40.473Z,1754689000.473 [DAT](ERROR): #Rx 105: Read range message, but no direction.
2025-08-08T21:36:40.474Z,1754689000.474 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=51.451942
2025-08-08T21:36:40.721Z,1754689000.721 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=51.698837
2025-08-08T21:36:40.776Z,1754689000.776 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-08T21:36:40.779Z,1754689000.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 2.000000 m,
      deltaT: 0.500416 s,
      deltaX: -0.100000 m,
      approachRate: -0.199834 m/s,
      rangeRepo size: 4

2025-08-08T21:36:40.974Z,1754689000.974 [DAT](INFO): DAT read: Rx Time:21:36:40.5054 

2025-08-08T21:36:40.974Z,1754689000.974 [DAT](INFO): Rx dataTimestamp_ set to:1754689000.973770
2025-08-08T21:36:40.975Z,1754689000.975 [DAT](INFO): DAT read: Range 11 to 50 :     1.5 m (trip time 1.0 ms) speed 0.4

2025-08-08T21:36:40.976Z,1754689000.976 [DAT](ERROR): #Rx 106: Read range message, but no direction.
2025-08-08T21:36:40.977Z,1754689000.977 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=51.954895
2025-08-08T21:36:41.145Z,1754689001.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.500000 m,
      deltaT: 0.503291 s,
      deltaX: -0.500000 m,
      approachRate: -0.993461 m/s,
      rangeRepo size: 4

2025-08-08T21:36:41.226Z,1754689001.226 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=52.203732
2025-08-08T21:36:41.477Z,1754689001.477 [DAT](INFO): DAT read: Rx Time:21:36:41.0055 

2025-08-08T21:36:41.477Z,1754689001.477 [DAT](INFO): Rx dataTimestamp_ set to:1754689001.477169
2025-08-08T21:36:41.479Z,1754689001.479 [DAT](INFO): DAT read: Range 11 to 50 :     1.7 m (trip time 1.1 ms) speed 0.4

2025-08-08T21:36:41.479Z,1754689001.479 [DAT](ERROR): #Rx 107: Read range message, but no direction.
2025-08-08T21:36:41.480Z,1754689001.480 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=52.458336
2025-08-08T21:36:41.554Z,1754689001.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.700000 m,
      deltaT: 0.503399 s,
      deltaX: 0.200000 m,
      approachRate: 0.397299 m/s,
      rangeRepo size: 4

2025-08-08T21:36:41.729Z,1754689001.729 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=52.707031
2025-08-08T21:36:41.997Z,1754689001.997 [DAT](INFO): DAT read: Rx Time:21:36:41.5053 

2025-08-08T21:36:41.998Z,1754689001.998 [DAT](INFO): Rx dataTimestamp_ set to:1754689001.997265
2025-08-08T21:36:41.999Z,1754689001.999 [DAT](INFO): DAT read: Range 11 to 50 :     1.4 m (trip time 0.9 ms) speed 0.5

2025-08-08T21:36:41.999Z,1754689001.999 [DAT](ERROR): #Rx 108: Read range message, but no direction.
2025-08-08T21:36:42.000Z,1754689002.000 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=52.978432
2025-08-08T21:36:42.249Z,1754689002.249 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=53.227043
2025-08-08T21:36:42.367Z,1754689002.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.400000 m,
      deltaT: 0.520096 s,
      deltaX: -0.300000 m,
      approachRate: -0.576817 m/s,
      rangeRepo size: 4

2025-08-08T21:36:42.501Z,1754689002.501 [DAT](INFO): DAT read: Rx Time:21:36:42.0054 

2025-08-08T21:36:42.501Z,1754689002.501 [DAT](INFO): Rx dataTimestamp_ set to:1754689002.501109
2025-08-08T21:36:42.503Z,1754689002.503 [DAT](INFO): DAT read: Range 11 to 50 :     1.5 m (trip time 1.0 ms) speed 0.3

2025-08-08T21:36:42.503Z,1754689002.503 [DAT](ERROR): #Rx 109: Read range message, but no direction.
2025-08-08T21:36:42.504Z,1754689002.504 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=53.482368
2025-08-08T21:36:42.753Z,1754689002.753 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=53.731152
2025-08-08T21:36:42.777Z,1754689002.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.500000 m,
      deltaT: 0.503844 s,
      deltaX: 0.100000 m,
      approachRate: 0.198474 m/s,
      rangeRepo size: 4

2025-08-08T21:36:43.007Z,1754689003.007 [DAT](INFO): DAT read: Rx Time:21:36:42.5051 

2025-08-08T21:36:43.008Z,1754689003.008 [DAT](INFO): Rx dataTimestamp_ set to:1754689003.007503
2025-08-08T21:36:43.010Z,1754689003.010 [DAT](INFO): DAT read: Bearing   2.3,   2.4 (Local)

2025-08-08T21:36:43.010Z,1754689003.010 [DAT](INFO): Local bearing/azimuth received:
 Bearing   2.3,   2.4 (Local)

2025-08-08T21:36:43.013Z,1754689003.013 [DAT](INFO): DAT read: Range 11 to 50 :     1.1 m (trip time 0.7 ms) speed 0.0

2025-08-08T21:36:43.018Z,1754689003.018 [DAT](INFO): DAT read: 21:36:42.5051 LVL= 19936, 15905, 28610, 25171, AGC= 35, IDX= 504,-0.11, 0.984, 1.753, 0.528, 1.988, PHS=-0.902,-0.190,-1.504, RAW= 357.2,  38.9, CAL= 355.6,  43.9, ROT= 154.4, -43.9

2025-08-08T21:36:43.019Z,1754689003.019 [DAT](INFO): got valid direction response:
 21:36:42.5051 LVL= 19936, 15905, 28610, 25171, AGC= 35, IDX= 504,-0.11, 0.984, 1.753, 0.528, 1.988, PHS=-0.902,-0.190,-1.504, RAW= 357.2,  38.9, CAL= 355.6,  43.9, ROT= 154.4, -43.9

2025-08-08T21:36:43.019Z,1754689003.019 [DAT](INFO): #Rx 110: Read range and direction messages.
2025-08-08T21:36:43.020Z,1754689003.020 [DAT](INFO): direction in FSK: [-0.649816,0.311340,0.693402]
2025-08-08T21:36:43.020Z,1754689003.020 [DAT](INFO): publishing direction and range info
2025-08-08T21:36:43.024Z,1754689003.024 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=54.001541
2025-08-08T21:36:43.235Z,1754689003.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.100000 m,
      deltaT: 0.506394 s,
      deltaX: -0.400000 m,
      approachRate: -0.789899 m/s,
      rangeRepo size: 4

2025-08-08T21:36:43.237Z,1754689003.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.100000 m,
      bearing: 157.449089 deg,
      lat: 36.906031 deg,
      lon: -122.115843 deg,
      deltaT: 3.037440 s,
      deltaX: -1.000000 m,
      approachRate: -0.329225 m/s,
      posRepo size: 4

2025-08-08T21:36:43.238Z,1754689003.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 1.10 m.
2025-08-08T21:36:43.238Z,1754689003.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting latch delay timer at range: 1.10 m.
2025-08-08T21:36:43.238Z,1754689003.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Cable is present.
2025-08-08T21:36:43.257Z,1754689003.257 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=54.235016
2025-08-08T21:36:43.509Z,1754689003.509 [DAT](INFO): DAT read: Rx Time:21:36:43.0052 

2025-08-08T21:36:43.509Z,1754689003.509 [DAT](INFO): Rx dataTimestamp_ set to:1754689003.509225
2025-08-08T21:36:43.511Z,1754689003.511 [DAT](INFO): DAT read: Range 11 to 50 :     1.2 m (trip time 0.8 ms) speed 0.0

2025-08-08T21:36:43.511Z,1754689003.511 [DAT](ERROR): #Rx 111: Read range message, but no direction.
2025-08-08T21:36:43.512Z,1754689003.512 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=54.490368
2025-08-08T21:36:43.666Z,1754689003.666 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-08T21:36:43.673Z,1754689003.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.200000 m,
      deltaT: 0.501722 s,
      deltaX: 0.100000 m,
      approachRate: 0.199314 m/s,
      rangeRepo size: 4

2025-08-08T21:36:43.674Z,1754689003.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 1.20 m.
2025-08-08T21:36:43.761Z,1754689003.761 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=54.738995
2025-08-08T21:36:44.016Z,1754689004.016 [DAT](INFO): DAT read: Rx Time:21:36:43.5052 

2025-08-08T21:36:44.017Z,1754689004.017 [DAT](INFO): Rx dataTimestamp_ set to:1754689004.016677
2025-08-08T21:36:44.018Z,1754689004.018 [DAT](INFO): DAT read: Bearing  17.2,  -0.3 (Local)

2025-08-08T21:36:44.019Z,1754689004.019 [DAT](INFO): Local bearing/azimuth received:
 Bearing  17.2,  -0.3 (Local)

2025-08-08T21:36:44.021Z,1754689004.021 [DAT](INFO): DAT read: Range 11 to 50 :     1.2 m (trip time 0.8 ms) speed 0.0

2025-08-08T21:36:44.025Z,1754689004.025 [DAT](INFO): DAT read: 21:36:43.5052 LVL= 31408, 26033, 32290, 32755, AGC= 36, IDX= 504, 0.09,-0.409, 1.239,-0.921, 0.899, PHS=-1.206, 0.385,-1.863, RAW= 346.5,  25.4, CAL= 346.0,  30.2, ROT= 164.0, -30.2

2025-08-08T21:36:44.026Z,1754689004.026 [DAT](INFO): got valid direction response:
 21:36:43.5052 LVL= 31408, 26033, 32290, 32755, AGC= 36, IDX= 504, 0.09,-0.409, 1.239,-0.921, 0.899, PHS=-1.206, 0.385,-1.863, RAW= 346.5,  25.4, CAL= 346.0,  30.2, ROT= 164.0, -30.2

2025-08-08T21:36:44.027Z,1754689004.027 [DAT](INFO): #Rx 112: Read range and direction messages.
2025-08-08T21:36:44.032Z,1754689004.032 [DAT](INFO): direction in FSK: [-0.830794,0.238226,0.503020]
2025-08-08T21:36:44.032Z,1754689004.032 [DAT](INFO): publishing direction and range info
2025-08-08T21:36:44.035Z,1754689004.035 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=55.013504
2025-08-08T21:36:44.185Z,1754689004.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.200000 m,
      deltaT: 0.507452 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-08T21:36:44.187Z,1754689004.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.200000 m,
      bearing: 176.666839 deg,
      lat: 36.906034 deg,
      lon: -122.115844 deg,
      deltaT: 1.009174 s,
      deltaX: 0.100000 m,
      approachRate: 0.099091 m/s,
      posRepo size: 4

2025-08-08T21:36:44.188Z,1754689004.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 1.20 m.
2025-08-08T21:36:44.269Z,1754689004.269 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=55.247227
2025-08-08T21:36:44.521Z,1754689004.521 [DAT](INFO): DAT read: Rx Time:21:36:44.0053 

2025-08-08T21:36:44.521Z,1754689004.521 [DAT](INFO): Rx dataTimestamp_ set to:1754689004.521113
2025-08-08T21:36:44.523Z,1754689004.523 [DAT](INFO): DAT read: Range 11 to 50 :     1.4 m (trip time 0.9 ms) speed 0.0

2025-08-08T21:36:44.523Z,1754689004.523 [DAT](ERROR): #Rx 113: Read range message, but no direction.
2025-08-08T21:36:44.524Z,1754689004.524 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=55.502243
2025-08-08T21:36:44.727Z,1754689004.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.400000 m,
      deltaT: 0.504436 s,
      deltaX: 0.200000 m,
      approachRate: 0.396482 m/s,
      rangeRepo size: 4

2025-08-08T21:36:44.774Z,1754689004.774 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=55.751678
2025-08-08T21:36:45.025Z,1754689005.025 [DAT](INFO): DAT read: Rx Time:21:36:44.5049 

2025-08-08T21:36:45.026Z,1754689005.026 [DAT](INFO): Rx dataTimestamp_ set to:1754689005.025310
2025-08-08T21:36:45.027Z,1754689005.027 [DAT](INFO): DAT read: Range 11 to 50 :     0.8 m (trip time 0.5 ms) speed 0.0

2025-08-08T21:36:45.027Z,1754689005.027 [DAT](ERROR): #Rx 114: Read range message, but no direction.
2025-08-08T21:36:45.028Z,1754689005.028 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=56.006443
2025-08-08T21:36:45.061Z,1754689005.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.800000 m,
      deltaT: 0.504197 s,
      deltaX: -0.600000 m,
      approachRate: -1.190011 m/s,
      rangeRepo size: 4

2025-08-08T21:36:45.277Z,1754689005.277 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=56.255016
2025-08-08T21:36:45.532Z,1754689005.532 [DAT](INFO): DAT read: Rx Time:21:36:45.0050 

2025-08-08T21:36:45.533Z,1754689005.533 [DAT](INFO): Rx dataTimestamp_ set to:1754689005.532541
2025-08-08T21:36:45.534Z,1754689005.534 [DAT](INFO): DAT read: Bearing 291.3,  35.9 (Local)

2025-08-08T21:36:45.534Z,1754689005.534 [DAT](INFO): Local bearing/azimuth received:
 Bearing 291.3,  35.9 (Local)

2025-08-08T21:36:45.537Z,1754689005.537 [DAT](INFO): DAT read: Range 11 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-08-08T21:36:45.550Z,1754689005.550 [DAT](INFO): DAT read: 21:36:45.0050 LVL= 32752, 25809, 32754, 32755, AGC= 36, IDX= 503, 0.15, 2.478, 0.584, 1.282, 2.804, PHS=-0.225,-2.175,-1.566, RAW= 107.8,  39.1, CAL= 105.3,  45.9, ROT=  44.7, -45.9

2025-08-08T21:36:45.552Z,1754689005.552 [DAT](INFO): got valid direction response:
 21:36:45.0050 LVL= 32752, 25809, 32754, 32755, AGC= 36, IDX= 503, 0.15, 2.478, 0.584, 1.282, 2.804, PHS=-0.225,-2.175,-1.566, RAW= 107.8,  39.1, CAL= 105.3,  45.9, ROT=  44.7, -45.9

2025-08-08T21:36:45.553Z,1754689005.553 [DAT](INFO): #Rx 115: Read range and direction messages.
2025-08-08T21:36:45.554Z,1754689005.554 [DAT](INFO): direction in FSK: [0.494654,0.489501,0.718126]
2025-08-08T21:36:45.554Z,1754689005.554 [DAT](INFO): publishing direction and range info
2025-08-08T21:36:45.570Z,1754689005.570 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=56.547916
2025-08-08T21:36:45.781Z,1754689005.781 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=56.758926
2025-08-08T21:36:45.910Z,1754689005.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.900000 m,
      deltaT: 0.507231 s,
      deltaX: 0.100000 m,
      approachRate: 0.197149 m/s,
      rangeRepo size: 4

2025-08-08T21:36:45.912Z,1754689005.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.900000 m,
      bearing: 179.793856 deg,
      lat: 36.906035 deg,
      lon: -122.115843 deg,
      deltaT: 1.515864 s,
      deltaX: -0.300000 m,
      approachRate: -0.197907 m/s,
      posRepo size: 4

2025-08-08T21:36:46.033Z,1754689006.033 [DAT](INFO): DAT read: Rx Time:21:36:45.5049 

2025-08-08T21:36:46.034Z,1754689006.034 [DAT](INFO): Rx dataTimestamp_ set to:1754689006.033256
2025-08-08T21:36:46.035Z,1754689006.035 [DAT](INFO): DAT read: Range 11 to 50 :     0.8 m (trip time 0.5 ms) speed 0.0

2025-08-08T21:36:46.035Z,1754689006.035 [DAT](ERROR): #Rx 116: Read range message, but no direction.
2025-08-08T21:36:46.036Z,1754689006.036 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=57.014408
2025-08-08T21:36:46.275Z,1754689006.275 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-08T21:36:46.278Z,1754689006.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.800000 m,
      deltaT: 0.500715 s,
      deltaX: -0.100000 m,
      approachRate: -0.199714 m/s,
      rangeRepo size: 4

2025-08-08T21:36:46.285Z,1754689006.285 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=57.263016
2025-08-08T21:36:46.537Z,1754689006.537 [DAT](INFO): DAT read: Rx Time:21:36:46.0050 

2025-08-08T21:36:46.537Z,1754689006.537 [DAT](INFO): Rx dataTimestamp_ set to:1754689006.537196
2025-08-08T21:36:46.539Z,1754689006.539 [DAT](INFO): DAT read: Range 11 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-08-08T21:36:46.539Z,1754689006.539 [DAT](ERROR): #Rx 117: Read range message, but no direction.
2025-08-08T21:36:46.540Z,1754689006.540 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=57.518333
2025-08-08T21:36:46.763Z,1754689006.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.900000 m,
      deltaT: 0.503940 s,
      deltaX: 0.100000 m,
      approachRate: 0.198436 m/s,
      rangeRepo size: 4

2025-08-08T21:36:46.768Z,1754689006.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 0.90 m.
2025-08-08T21:36:46.789Z,1754689006.789 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=57.767151
2025-08-08T21:36:47.041Z,1754689007.041 [DAT](INFO): DAT read: Rx Time:21:36:46.5049 

2025-08-08T21:36:47.042Z,1754689007.042 [DAT](INFO): Rx dataTimestamp_ set to:1754689007.041915
2025-08-08T21:36:47.044Z,1754689007.044 [DAT](INFO): DAT read: Range 11 to 50 :     0.8 m (trip time 0.5 ms) speed 0.0

2025-08-08T21:36:47.045Z,1754689007.045 [DAT](ERROR): #Rx 118: Read range message, but no direction.
2025-08-08T21:36:47.046Z,1754689007.046 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=58.024033
2025-08-08T21:36:47.144Z,1754689007.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.800000 m,
      deltaT: 0.504719 s,
      deltaX: -0.100000 m,
      approachRate: -0.198130 m/s,
      rangeRepo size: 4

2025-08-08T21:36:47.148Z,1754689007.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 0.80 m.
2025-08-08T21:36:47.294Z,1754689007.294 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=58.271397
2025-08-08T21:36:47.547Z,1754689007.547 [DAT](INFO): DAT read: Rx Time:21:36:47.0051 

2025-08-08T21:36:47.548Z,1754689007.548 [DAT](INFO): Rx dataTimestamp_ set to:1754689007.547375
2025-08-08T21:36:47.549Z,1754689007.549 [DAT](INFO): DAT read: Bearing 321.3,  23.0 (Local)

2025-08-08T21:36:47.549Z,1754689007.549 [DAT](INFO): Local bearing/azimuth received:
 Bearing 321.3,  23.0 (Local)

2025-08-08T21:36:47.551Z,1754689007.551 [DAT](INFO): DAT read: Range 11 to 50 :     1.1 m (trip time 0.7 ms) speed 0.0

2025-08-08T21:36:47.556Z,1754689007.556 [DAT](INFO): DAT read: 21:36:47.0051 LVL= 21872, 23937, 32162, 31267, AGC= 34, IDX= 503, 0.06, 1.946, 1.477, 1.135, 2.915, PHS=-0.867,-1.393,-1.823, RAW=  63.3,  60.1, CAL=  60.8,  63.8, ROT=  89.2, -63.8

2025-08-08T21:36:47.558Z,1754689007.558 [DAT](INFO): got valid direction response:
 21:36:47.0051 LVL= 21872, 23937, 32162, 31267, AGC= 34, IDX= 503, 0.06, 1.946, 1.477, 1.135, 2.915, PHS=-0.867,-1.393,-1.823, RAW=  63.3,  60.1, CAL=  60.8,  63.8, ROT=  89.2, -63.8

2025-08-08T21:36:47.558Z,1754689007.558 [DAT](INFO): #Rx 119: Read range and direction messages.
2025-08-08T21:36:47.559Z,1754689007.559 [DAT](INFO): direction in FSK: [0.006164,0.441463,0.897258]
2025-08-08T21:36:47.577Z,1754689007.577 [DAT](INFO): publishing direction and range info
2025-08-08T21:36:47.583Z,1754689007.583 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=58.560513
2025-08-08T21:36:47.797Z,1754689007.797 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=58.774895
2025-08-08T21:36:48.008Z,1754689008.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.100000 m,
      deltaT: 0.505460 s,
      deltaX: 0.300000 m,
      approachRate: 0.593519 m/s,
      rangeRepo size: 4

2025-08-08T21:36:48.010Z,1754689008.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.100000 m,
      bearing: 200.478032 deg,
      lat: 36.906035 deg,
      lon: -122.115843 deg,
      deltaT: 2.014834 s,
      deltaX: 0.200000 m,
      approachRate: 0.099264 m/s,
      posRepo size: 4

2025-08-08T21:36:48.050Z,1754689008.050 [DAT](INFO): DAT read: Rx Time:21:36:47.5050 

2025-08-08T21:36:48.051Z,1754689008.051 [DAT](INFO): Rx dataTimestamp_ set to:1754689008.050613
2025-08-08T21:36:48.058Z,1754689008.058 [DAT](INFO): DAT read: Bearing 348.0,  23.4 (Local)

2025-08-08T21:36:48.058Z,1754689008.058 [DAT](INFO): Local bearing/azimuth received:
 Bearing 348.0,  23.4 (Local)

2025-08-08T21:36:48.062Z,1754689008.062 [DAT](INFO): DAT read: Range 11 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-08-08T21:36:48.073Z,1754689008.073 [DAT](INFO): DAT read: 21:36:47.5050 LVL= 20368, 25249, 31954, 30627, AGC= 33, IDX= 505, 0.07, 1.774, 2.003, 0.715,PHS=-0.889,-0.718,-2.09 23.4,  45.2, CAL=  21.9,  50.2, ROT= 128.1, -50.2

2025-08-08T21:36:48.073Z,1754689008.073 [DAT](INFO): unknown deviceResponse_: 21:36:47.5050 LVL= 20368, 25249, 31954, 30627, AGC= 33, IDX= 505, 0.07, 1.774, 2.003, 0.715,PHS=-0.889,-0.718,-2.09 23.4,  45.2, CAL=  21.9,  50.2, ROT= 128.1, -50.2

2025-08-08T21:36:48.074Z,1754689008.074 [DAT](ERROR): #Rx 120: Read range message, but no direction.
2025-08-08T21:36:48.074Z,1754689008.074 [DAT](INFO): ****** received valid address query ******
2025-08-08T21:36:48.075Z,1754689008.075 [DAT](INFO): ****** received valid ping request ******
2025-08-08T21:36:48.075Z,1754689008.075 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-08T21:36:48.301Z,1754689008.301 [DAT](INFO): Reached modem response timeout
2025-08-08T21:36:48.301Z,1754689008.301 [DAT](DEBUG): Acoustic response timeout
2025-08-08T21:36:48.301Z,1754689008.301 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-08T21:36:48.316Z,1754689008.316 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-08T21:36:48.319Z,1754689008.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.900000 m,
      deltaT: 0.503238 s,
      deltaX: -0.200000 m,
      approachRate: -0.397426 m/s,
      rangeRepo size: 4

2025-08-08T21:36:48.553Z,1754689008.553 [DAT](INFO): DAT read: Rx Time:21:36:48.0051 

2025-08-08T21:36:48.554Z,1754689008.554 [DAT](INFO): Rx dataTimestamp_ set to:1754689008.553588
2025-08-08T21:36:48.555Z,1754689008.555 [DAT](INFO): DAT read: Bearing 312.2,  25.7 (Local)

2025-08-08T21:36:48.555Z,1754689008.555 [DAT](INFO): Local bearing/azimuth received:
 Bearing 312.2,  25.7 (Local)

2025-08-08T21:36:48.558Z,1754689008.558 [DAT](INFO): DAT read: Range 11 to 50 :     1.1 m (trip time 0.7 ms) speed 0.0

2025-08-08T21:36:48.562Z,1754689008.562 [DAT](INFO): DAT read: 21:36:48.0051 LVL= 23584, 31985, 29826, 32755, AGC= 35, IDX= 504,-0.30,-2.930, 2.713, 2.635,-2.122, PHS=-0.706,-1.404,-1.570, RAW=  79.5,  58.6, CAL=  77.7,  63.2, ROT=  72.3, -63.2

2025-08-08T21:36:48.563Z,1754689008.563 [DAT](INFO): got valid direction response:
 21:36:48.0051 LVL= 23584, 31985, 29826, 32755, AGC= 35, IDX= 504,-0.30,-2.930, 2.713, 2.635,-2.122, PHS=-0.706,-1.404,-1.570, RAW=  79.5,  58.6, CAL=  77.7,  63.2, ROT=  72.3, -63.2

2025-08-08T21:36:48.564Z,1754689008.564 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-08T21:36:48.565Z,1754689008.565 [DAT](INFO): direction in FSK: [0.137082,0.429534,0.892586]
2025-08-08T21:36:48.565Z,1754689008.565 [DAT](INFO): publishing direction and range info
2025-08-08T21:36:48.575Z,1754689008.575 [DAT](DEBUG): Acoustic response timeout
2025-08-08T21:36:48.596Z,1754689008.596 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-08T21:36:48.786Z,1754689008.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.100000 m,
      deltaT: 0.502975 s,
      deltaX: 0.200000 m,
      approachRate: 0.397634 m/s,
      rangeRepo size: 4

2025-08-08T21:36:48.789Z,1754689008.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.100000 m,
      bearing: 182.890294 deg,
      lat: 36.906034 deg,
      lon: -122.115841 deg,
      deltaT: 1.006213 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-08T21:36:48.813Z,1754689008.813 [DAT](INFO): Reached modem response timeout
2025-08-08T21:36:48.813Z,1754689008.813 [DAT](DEBUG): Acoustic response timeout
2025-08-08T21:36:48.813Z,1754689008.813 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-08T21:36:49.065Z,1754689009.065 [DAT](INFO): DAT read: Rx Time:21:36:48.5051 

2025-08-08T21:36:49.066Z,1754689009.066 [DAT](INFO): Rx dataTimestamp_ set to:1754689009.065529
2025-08-08T21:36:49.067Z,1754689009.067 [DAT](INFO): DAT read: Bearing 300.6,  24.5 (Local)

2025-08-08T21:36:49.067Z,1754689009.067 [DAT](INFO): Local bearing/azimuth received:
 Bearing 300.6,  24.5 (Local)

2025-08-08T21:36:49.069Z,1754689009.069 [DAT](INFO): DAT read: Range 11 to 50 :     1.1 m (trip time 0.7 ms) speed 0.0

2025-08-08T21:36:49.074Z,1754689009.074 [DAT](INFO): DAT read: 21:36:48.5051 LVL= 18416, 27425, 26850, 30627, AGC= 34, IDX= 503,-0.06, 1.911, 1.034, 1.279, 2.641, PHS=-0.628,-1.562,-1.406, RAW=  99.0,  55.7, CAL=  97.7,  60.4, ROT=  52.3, -60.4

2025-08-08T21:36:49.075Z,1754689009.075 [DAT](INFO): got valid direction response:
 21:36:48.5051 LVL= 18416, 27425, 26850, 30627, AGC= 34, IDX= 503,-0.06, 1.911, 1.034, 1.279, 2.641, PHS=-0.628,-1.562,-1.406, RAW=  99.0,  55.7, CAL=  97.7,  60.4, ROT=  52.3, -60.4

2025-08-08T21:36:49.075Z,1754689009.075 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-08T21:36:49.077Z,1754689009.077 [DAT](INFO): direction in FSK: [0.302059,0.390818,0.869495]
2025-08-08T21:36:49.077Z,1754689009.077 [DAT](INFO): publishing direction and range info
2025-08-08T21:36:49.110Z,1754689009.110 [DAT](DEBUG): Acoustic response timeout
2025-08-08T21:36:49.111Z,1754689009.111 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-08T21:36:49.172Z,1754689009.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.100000 m,
      deltaT: 0.511941 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-08T21:36:49.174Z,1754689009.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.100000 m,
      bearing: 157.370291 deg,
      lat: 36.906035 deg,
      lon: -122.115839 deg,
      deltaT: 0.511941 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-08T21:36:49.317Z,1754689009.317 [DAT](INFO): Reached modem response timeout
2025-08-08T21:36:49.317Z,1754689009.317 [DAT](DEBUG): Acoustic response timeout
2025-08-08T21:36:49.318Z,1754689009.318 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-08T21:36:49.570Z,1754689009.570 [DAT](INFO): DAT read: Rx Time:21:36:49.0051 

2025-08-08T21:36:49.571Z,1754689009.571 [DAT](INFO): Rx dataTimestamp_ set to:1754689009.570350
2025-08-08T21:36:49.573Z,1754689009.573 [DAT](INFO): DAT read: Bearing 295.5,  27.5 (Local)

2025-08-08T21:36:49.573Z,1754689009.573 [DAT](INFO): Local bearing/azimuth received:
 Bearing 295.5,  27.5 (Local)

2025-08-08T21:36:49.576Z,1754689009.576 [DAT](INFO): DAT read: Range 11 to 50 :     1.1 m (trip time 0.7 ms) speed 0.0

2025-08-08T21:36:49.582Z,1754689009.582 [DAT](INFO): DAT read: 21:36:49.0051 LVL= 24352, 32081, 32754, 32755, AGC= 35, IDX= 503, 0.02, 2.920, 1.812, 2.154,-2.772, PHS=-0.489,-1.654,-1.401, RAW= 101.9,  49.7, CAL= 100.3,  55.1, ROT=  49.7, -55.1

2025-08-08T21:36:49.584Z,1754689009.584 [DAT](INFO): got valid direction response:
 21:36:49.0051 LVL= 24352, 32081, 32754, 32755, AGC= 35, IDX= 503, 0.02, 2.920, 1.812, 2.154,-2.772, PHS=-0.489,-1.654,-1.401, RAW= 101.9,  49.7, CAL= 100.3,  55.1, ROT=  49.7, -55.1

2025-08-08T21:36:49.585Z,1754689009.585 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-08T21:36:49.586Z,1754689009.586 [DAT](INFO): direction in FSK: [0.370058,0.436358,0.820152]
2025-08-08T21:36:49.586Z,1754689009.586 [DAT](INFO): publishing direction and range info
2025-08-08T21:36:49.591Z,1754689009.591 [DAT](DEBUG): Acoustic response timeout
2025-08-08T21:36:49.596Z,1754689009.596 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-08T21:36:49.820Z,1754689009.820 [DAT](INFO): Reached modem response timeout
2025-08-08T21:36:49.821Z,1754689009.821 [DAT](DEBUG): Acoustic response timeout
2025-08-08T21:36:49.821Z,1754689009.821 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-08T21:36:50.015Z,1754689010.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.100000 m,
      deltaT: 0.504821 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-08T21:36:50.025Z,1754689010.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.100000 m,
      bearing: 141.446280 deg,
      lat: 36.906034 deg,
      lon: -122.115838 deg,
      deltaT: 0.504821 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-08T21:36:50.075Z,1754689010.075 [DAT](INFO): DAT read: Rx Time:21:36:49.5050 

2025-08-08T21:36:50.075Z,1754689010.075 [DAT](INFO): Rx dataTimestamp_ set to:1754689010.074727
2025-08-08T21:36:50.077Z,1754689010.077 [DAT](INFO): DAT read: Bearing 293.6,  28.9 (Local)

2025-08-08T21:36:50.078Z,1754689010.078 [DAT](INFO): Local bearing/azimuth received:
 Bearing 293.6,  28.9 (Local)

2025-08-08T21:36:50.081Z,1754689010.081 [DAT](INFO): DAT read: Range 11 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-08-08T21:36:50.087Z,1754689010.087 [DAT](INFO): DAT read: 21:36:49.5050 LVL= 25424, 32753, 32578, 32755, AGC= 35, IDX= 502, 0.14, 1.783, 0.648, 0.997, 2.289, PHS=-0.405,-1.596,-1.336, RAW= 102.0,  47.4, CAL= 100.2,  53.0, ROT=  49.8, -53.0

2025-08-08T21:36:50.090Z,1754689010.090 [DAT](INFO): got valid direction response:
 21:36:49.5050 LVL= 25424, 32753, 32578, 32755, AGC= 35, IDX= 502, 0.14, 1.783, 0.648, 0.997, 2.289, PHS=-0.405,-1.596,-1.336, RAW= 102.0,  47.4, CAL= 100.2,  53.0, ROT=  49.8, -53.0

2025-08-08T21:36:50.090Z,1754689010.090 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-08T21:36:50.092Z,1754689010.092 [DAT](INFO): direction in FSK: [0.388446,0.459664,0.798636]
2025-08-08T21:36:50.092Z,1754689010.092 [DAT](INFO): publishing direction and range info
2025-08-08T21:36:50.132Z,1754689010.132 [DAT](DEBUG): Acoustic response timeout
2025-08-08T21:36:50.133Z,1754689010.133 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-08T21:36:50.325Z,1754689010.325 [DAT](INFO): Reached modem response timeout
2025-08-08T21:36:50.326Z,1754689010.326 [DAT](DEBUG): Acoustic response timeout
2025-08-08T21:36:50.327Z,1754689010.327 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-08T21:36:50.407Z,1754689010.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.900000 m,
      deltaT: 0.504377 s,
      deltaX: -0.200000 m,
      approachRate: -0.396529 m/s,
      rangeRepo size: 4

2025-08-08T21:36:50.414Z,1754689010.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.900000 m,
      bearing: 132.657544 deg,
      lat: 36.906034 deg,
      lon: -122.115838 deg,
      deltaT: 0.504377 s,
      deltaX: -0.200000 m,
      approachRate: -0.396529 m/s,
      posRepo size: 4

2025-08-08T21:36:50.579Z,1754689010.579 [DAT](INFO): DAT read: Rx Time:21:36:50.0051 

2025-08-08T21:36:50.579Z,1754689010.579 [DAT](INFO): Rx dataTimestamp_ set to:1754689010.578749
2025-08-08T21:36:50.580Z,1754689010.580 [DAT](INFO): DAT read: Bearing 292.7,  29.6 (Local)

2025-08-08T21:36:50.581Z,1754689010.581 [DAT](INFO): Local bearing/azimuth received:
 Bearing 292.7,  29.6 (Local)

2025-08-08T21:36:50.583Z,1754689010.583 [DAT](INFO): DAT read: Range 11 to 50 :     1.1 m (trip time 0.7 ms) speed 0.0

2025-08-08T21:36:50.589Z,1754689010.589 [DAT](INFO): DAT read: 21:36:50.0051 LVL= 28368, 32753, 32754, 32755, AGC= 34, IDX= 503, 0.23,-2.648, 2.483, 2.832,-2.159, PHS=-0.387,-1.597,-1.336, RAW= 101.8,  46.8, CAL= 100.0,  52.5, ROT=  50.0, -52.5

2025-08-08T21:36:50.590Z,1754689010.590 [DAT](INFO): got valid direction response:
 21:36:50.0051 LVL= 28368, 32753, 32754, 32755, AGC= 34, IDX= 503, 0.23,-2.648, 2.483, 2.832,-2.159, PHS=-0.387,-1.597,-1.336, RAW= 101.8,  46.8, CAL= 100.0,  52.5, ROT=  50.0, -52.5

2025-08-08T21:36:50.591Z,1754689010.591 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-08T21:36:50.596Z,1754689010.596 [DAT](INFO): direction in FSK: [0.391304,0.466338,0.793353]
2025-08-08T21:36:50.597Z,1754689010.597 [DAT](INFO): publishing direction and range info
2025-08-08T21:36:50.600Z,1754689010.600 [DAT](DEBUG): Acoustic response timeout
2025-08-08T21:36:50.600Z,1754689010.600 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-08T21:36:50.830Z,1754689010.830 [DAT](INFO): Reached modem response timeout
2025-08-08T21:36:50.830Z,1754689010.830 [DAT](DEBUG): Acoustic response timeout
2025-08-08T21:36:50.831Z,1754689010.831 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-08T21:36:50.901Z,1754689010.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 1.100000 m,
      deltaT: 0.504022 s,
      deltaX: 0.200000 m,
      approachRate: 0.396808 m/s,
      rangeRepo size: 4

2025-08-08T21:36:50.903Z,1754689010.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 1.100000 m,
      bearing: 126.138452 deg,
      lat: 36.906034 deg,
      lon: -122.115838 deg,
      deltaT: 0.504022 s,
      deltaX: 0.200000 m,
      approachRate: 0.396808 m/s,
      posRepo size: 4

2025-08-08T21:36:51.081Z,1754689011.081 [DAT](INFO): DAT read: Rx Time:21:36:50.5050 

2025-08-08T21:36:51.082Z,1754689011.082 [DAT](INFO): Rx dataTimestamp_ set to:1754689011.081592
2025-08-08T21:36:51.083Z,1754689011.083 [DAT](INFO): DAT read: Bearing 290.4,  30.8 (Local)

2025-08-08T21:36:51.083Z,1754689011.083 [DAT](INFO): Local bearing/azimuth received:
 Bearing 290.4,  30.8 (Local)

2025-08-08T21:36:51.086Z,1754689011.086 [DAT](INFO): DAT read: Range 11 to 50 :     0.9 m (trip time 0.6 ms) speed 0.0

2025-08-08T21:36:51.091Z,1754689011.091 [DAT](INFO): DAT read: 21:36:50.5050 LVL= 24640, 32753, 32754, 32755, AGC= 33, IDX= 502, 0.47, 1.067,-0.138, 0.251, 1.507, PHS=-0.338,-1.600,-1.300, RAW= 103.2,  45.1, CAL= 101.2,  51.0, ROT=  48.8, -51.0

2025-08-08T21:36:51.092Z,1754689011.092 [DAT](INFO): got valid direction response:
 21:36:50.5050 LVL= 24640, 32753, 32754, 32755, AGC= 33, IDX= 502, 0.47, 1.067,-0.138, 0.251, 1.507, PHS=-0.338,-1.600,-1.300, RAW= 103.2,  45.1, CAL= 101.2,  51.0, ROT=  48.8, -51.0

2025-08-08T21:36:51.093Z,1754689011.093 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-08T21:36:51.094Z,1754689011.094 [DAT](INFO): direction in FSK: [0.414527,0.473510,0.777146]
2025-08-08T21:36:51.094Z,1754689011.094 [DAT](INFO): publishing direction and range info
2025-08-08T21:36:51.098Z,1754689011.098 [DAT](DEBUG): Acoustic response timeout
2025-08-08T21:36:51.098Z,1754689011.098 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-08T21:36:51.303Z,1754689011.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.900000 m,
      deltaT: 0.502843 s,
      deltaX: -0.200000 m,
      approachRate: -0.397739 m/s,
      rangeRepo size: 4

2025-08-08T21:36:51.309Z,1754689011.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.900000 m,
      bearing: 120.902333 deg,
      lat: 36.906034 deg,
      lon: -122.115838 deg,
      deltaT: 0.502843 s,
      deltaX: -0.200000 m,
      approachRate: -0.397739 m/s,
      posRepo size: 4

2025-08-08T21:36:51.333Z,1754689011.333 [DAT](INFO): Reached modem response timeout
2025-08-08T21:36:51.333Z,1754689011.333 [DAT](DEBUG): Acoustic response timeout
2025-08-08T21:36:51.334Z,1754689011.334 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-08T21:36:51.585Z,1754689011.585 [DAT](INFO): DAT read: user:1225>

2025-08-08T21:36:51.586Z,1754689011.586 [DAT](INFO): DAT read: 20

2025-08-08T21:36:51.587Z,1754689011.587 [DAT](INFO): unknown deviceResponse_: 20

2025-08-08T21:36:51.587Z,1754689011.587 [DAT](INFO): DAT read: Ok

2025-08-08T21:36:51.588Z,1754689011.588 [DAT](INFO): unknown deviceResponse_: Ok

2025-08-08T21:36:51.589Z,1754689011.589 [DAT](INFO): DAT read: user:1226>

2025-08-08T21:36:51.590Z,1754689011.590 [DAT](INFO): DAT read: Tx time:21:36:51.5030

2025-08-08T21:36:51.590Z,1754689011.590 [DAT](INFO): Ping request sent.
2025-08-08T21:36:51.590Z,1754689011.590 [DAT](INFO): transmitted an acoustic signal
2025-08-08T21:36:51.591Z,1754689011.591 [DAT](INFO): publishing transmit ping time
2025-08-08T21:36:51.591Z,1754689011.591 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001125
2025-08-08T21:36:51.791Z,1754689011.791 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-08T21:36:51.838Z,1754689011.838 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.247595
2025-08-08T21:36:52.089Z,1754689012.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.498794
2025-08-08T21:36:52.342Z,1754689012.342 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.751611
2025-08-08T21:36:52.593Z,1754689012.593 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.002867
2025-08-08T21:36:52.846Z,1754689012.846 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256108
2025-08-08T21:36:53.097Z,1754689013.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.507222
2025-08-08T21:36:53.350Z,1754689013.350 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760104
2025-08-08T21:36:53.601Z,1754689013.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.010867
2025-08-08T21:36:53.853Z,1754689013.853 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263118
2025-08-08T21:36:53.978Z,1754689013.978 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-08T21:36:54.109Z,1754689014.109 [DAT](INFO): DAT read: Rx Time:21:36:53.6331 

2025-08-08T21:36:54.111Z,1754689014.111 [DAT](INFO): Rx dataTimestamp_ set to:1754689014.109513
2025-08-08T21:36:54.115Z,1754689014.115 [DAT](INFO): DAT read: Bearing 299.2,  17.6 (Local)

2025-08-08T21:36:54.116Z,1754689014.116 [DAT](INFO): Local bearing/azimuth received:
 Bearing 299.2,  17.6 (Local)

2025-08-08T21:36:54.123Z,1754689014.123 [DAT](INFO): DAT read: Range 11 to 50 :     0.6 m (trip time 0.4 ms) speed 0.0

2025-08-08T21:36:54.145Z,1754689014.145 [DAT](INFO): DAT read: 21:36:53.6331 LVL= 22800, 29137, 26610, 32755, AGC= 35, IDX= 501, 0.14,-0.637,-1.319,-1.105, 0.266, PHS=-0.801,-1.540,-1.415, RAW=  99.1,  62.7, CAL=  98.1,  66.4, ROT=  51.9, -66.4

2025-08-08T21:36:54.146Z,1754689014.146 [DAT](INFO): got valid direction response:
 21:36:53.6331 LVL= 22800, 29137, 26610, 32755, AGC= 35, IDX= 501, 0.14,-0.637,-1.319,-1.105, 0.266, PHS=-0.801,-1.540,-1.415, RAW=  99.1,  62.7, CAL=  98.1,  66.4, ROT=  51.9, -66.4

2025-08-08T21:36:54.146Z,1754689014.146 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-08T21:36:54.147Z,1754689014.147 [DAT](INFO): direction in FSK: [0.247030,0.315049,0.916363]
2025-08-08T21:36:54.148Z,1754689014.148 [DAT](INFO): publishing direction and range info
2025-08-08T21:36:54.164Z,1754689014.164 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.561751
2025-08-08T21:36:54.353Z,1754689014.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.600000 m,
      deltaT: 3.027921 s,
      deltaX: -0.300000 m,
      approachRate: -0.099078 m/s,
      rangeRepo size: 4

2025-08-08T21:36:54.356Z,1754689014.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.600000 m,
      bearing: 94.481563 deg,
      lat: 36.906034 deg,
      lon: -122.115838 deg,
      deltaT: 3.027921 s,
      deltaX: -0.300000 m,
      approachRate: -0.099078 m/s,
      posRepo size: 4

2025-08-08T21:36:54.357Z,1754689014.357 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.766913
2025-08-08T21:36:54.615Z,1754689014.615 [DAT](INFO): DAT read: Rx Time:21:36:54.1330 

2025-08-08T21:36:54.617Z,1754689014.617 [DAT](INFO): Rx dataTimestamp_ set to:1754689014.615844
2025-08-08T21:36:54.621Z,1754689014.621 [DAT](INFO): DAT read: Bearing 303.8,  14.3 (Local)

2025-08-08T21:36:54.623Z,1754689014.623 [DAT](INFO): Local bearing/azimuth received:
 Bearing 303.8,  14.3 (Local)

2025-08-08T21:36:54.630Z,1754689014.630 [DAT](INFO): DAT read: Range 11 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-08-08T21:36:54.643Z,1754689014.643 [DAT](INFO): DAT read: 21:36:54.1330 LVL= 22416, 27569, 28386, 31203, AGC= 34, IDX= 500, 0.20,-1.512,-2.011,-1.921,-0.473, PHS=-0.937,-1.493,-1.492, RAW=  90.1,  68.2, CAL=  89.5,  71.3, ROT=  60.5, -71.3

2025-08-08T21:36:54.648Z,1754689014.648 [DAT](INFO): got valid direction response:
 21:36:54.1330 LVL= 22416, 27569, 28386, 31203, AGC= 34, IDX= 500, 0.20,-1.512,-2.011,-1.921,-0.473, PHS=-0.937,-1.493,-1.492, RAW=  90.1,  68.2, CAL=  89.5,  71.3, ROT=  60.5, -71.3

2025-08-08T21:36:54.648Z,1754689014.648 [DAT](INFO): #Rx 2: Read range and direction messages.
2025-08-08T21:36:54.649Z,1754689014.649 [DAT](INFO): direction in FSK: [0.157877,0.279047,0.947210]
2025-08-08T21:36:54.649Z,1754689014.649 [DAT](INFO): publishing direction and range info
2025-08-08T21:36:54.677Z,1754689014.677 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.087355
2025-08-08T21:36:54.818Z,1754689014.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.500000 m,
      deltaT: 0.506331 s,
      deltaX: -0.100000 m,
      approachRate: -0.197499 m/s,
      rangeRepo size: 4

2025-08-08T21:36:54.826Z,1754689014.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.500000 m,
      bearing: 95.958955 deg,
      lat: 36.906034 deg,
      lon: -122.115838 deg,
      deltaT: 0.506331 s,
      deltaX: -0.100000 m,
      approachRate: -0.197499 m/s,
      posRepo size: 4

2025-08-08T21:36:54.865Z,1754689014.865 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.274621
2025-08-08T21:36:55.117Z,1754689015.117 [DAT](INFO): DAT read: Rx Time:21:36:54.6331 

2025-08-08T21:36:55.119Z,1754689015.119 [DAT](INFO): Rx dataTimestamp_ set to:1754689015.118066
2025-08-08T21:36:55.125Z,1754689015.125 [DAT](INFO): DAT read: Bearing 306.9,  12.6 (Local)

2025-08-08T21:36:55.126Z,1754689015.126 [DAT](INFO): Local bearing/azimuth received:
 Bearing 306.9,  12.6 (Local)

2025-08-08T21:36:55.129Z,1754689015.129 [DAT](INFO): DAT read: Range 11 to 50 :     0.6 m (trip time 0.4 ms) speed 0.0

2025-08-08T21:36:55.136Z,1754689015.136 [DAT](INFO): DAT read: 21:36:54.6331 LVL= 23024, 27121, 30706, 32339, AGC= 34, IDX= 501, 0.25, 0.131,-0.251,-0.254, 1.267, PHS=-1.034,-1.473,-1.566, RAW=  80.6,  71.1, CAL=  79.6,  74.0, ROT=  70.4, -74.0

2025-08-08T21:36:55.138Z,1754689015.138 [DAT](INFO): got valid direction response:
 21:36:54.6331 LVL= 23024, 27121, 30706, 32339, AGC= 34, IDX= 501, 0.25, 0.131,-0.251,-0.254, 1.267, PHS=-1.034,-1.473,-1.566, RAW=  80.6,  71.1, CAL=  79.6,  74.0, ROT=  70.4, -74.0

2025-08-08T21:36:55.138Z,1754689015.138 [DAT](INFO): #Rx 3: Read range and direction messages.
2025-08-08T21:36:55.139Z,1754689015.139 [DAT](INFO): direction in FSK: [0.092463,0.259666,0.961262]
2025-08-08T21:36:55.139Z,1754689015.139 [DAT](INFO): publishing direction and range info
2025-08-08T21:36:55.148Z,1754689015.148 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.557526
2025-08-08T21:36:55.325Z,1754689015.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.600000 m,
      deltaT: 0.502222 s,
      deltaX: 0.100000 m,
      approachRate: 0.199115 m/s,
      rangeRepo size: 4

2025-08-08T21:36:55.333Z,1754689015.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.600000 m,
      bearing: 117.649863 deg,
      lat: 36.906033 deg,
      lon: -122.115845 deg,
      deltaT: 0.502222 s,
      deltaX: 0.100000 m,
      approachRate: 0.199115 m/s,
      posRepo size: 4

2025-08-08T21:36:55.367Z,1754689015.367 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.776696
2025-08-08T21:36:55.623Z,1754689015.623 [DAT](INFO): DAT read: Rx Time:21:36:55.1330 

2025-08-08T21:36:55.625Z,1754689015.625 [DAT](INFO): Rx dataTimestamp_ set to:1754689015.624060
2025-08-08T21:36:55.627Z,1754689015.627 [DAT](INFO): DAT read: Bearing 309.5,  14.2 (Local)

2025-08-08T21:36:55.627Z,1754689015.627 [DAT](INFO): Local bearing/azimuth received:
 Bearing 309.5,  14.2 (Local)

2025-08-08T21:36:55.629Z,1754689015.629 [DAT](INFO): DAT read: Range 11 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-08-08T21:36:55.638Z,1754689015.638 [DAT](INFO): DAT read: 21:36:55.1330 LVL= 20448, 23809, 31426, 29363, AGC= 33, IDX= 500, 0.34,-0.529,-0.874,-0.990, 0.627, PHS=-1.054,-1.457,-1.661, RAW=  70.7,  70.1, CAL=  69.0,  72.8, ROT=  81.0, -72.8

2025-08-08T21:36:55.639Z,1754689015.639 [DAT](INFO): got valid direction response:
 21:36:55.1330 LVL= 20448, 23809, 31426, 29363, AGC= 33, IDX= 500, 0.34,-0.529,-0.874,-0.990, 0.627, PHS=-1.054,-1.457,-1.661, RAW=  70.7,  70.1, CAL=  69.0,  72.8, ROT=  81.0, -72.8

2025-08-08T21:36:55.640Z,1754689015.640 [DAT](INFO): #Rx 4: Read range and direction messages.
2025-08-08T21:36:55.641Z,1754689015.641 [DAT](INFO): direction in FSK: [0.046259,0.292067,0.955278]
2025-08-08T21:36:55.642Z,1754689015.642 [DAT](INFO): publishing direction and range info
2025-08-08T21:36:55.645Z,1754689015.645 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=4.055104
2025-08-08T21:36:55.721Z,1754689015.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.500000 m,
      deltaT: 0.505994 s,
      deltaX: -0.100000 m,
      approachRate: -0.197631 m/s,
      rangeRepo size: 4

2025-08-08T21:36:55.724Z,1754689015.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.500000 m,
      bearing: 127.144752 deg,
      lat: 36.906033 deg,
      lon: -122.115846 deg,
      deltaT: 0.505994 s,
      deltaX: -0.100000 m,
      approachRate: -0.197631 m/s,
      posRepo size: 4

2025-08-08T21:36:55.869Z,1754689015.869 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=4.279048
2025-08-08T21:36:56.125Z,1754689016.125 [DAT](INFO): DAT read: Rx Time:21:36:55.6331 

2025-08-08T21:36:56.126Z,1754689016.126 [DAT](INFO): Rx dataTimestamp_ set to:1754689016.125766
2025-08-08T21:36:56.127Z,1754689016.127 [DAT](INFO): DAT read: Bearing 308.7,  14.5 (Local)

2025-08-08T21:36:56.128Z,1754689016.128 [DAT](INFO): Local bearing/azimuth received:
 Bearing 308.7,  14.5 (Local)

2025-08-08T21:36:56.130Z,1754689016.130 [DAT](INFO): DAT read: Range 11 to 50 :     0.6 m (trip time 0.4 ms) speed 0.0

2025-08-08T21:36:56.139Z,1754689016.139 [DAT](INFO): DAT read: 21:36:55.6331 LVL= 22400, 25137, 32754, 32755, AGC= 35, IDX= 501, 0.36, 2.019, 1.660, 1.548,-3.114, PHS=-1.048,-1.464,-1.665, RAW=  71.4,  69.7, CAL=  69.7,  72.5, ROT=  80.3, -72.5

2025-08-08T21:36:56.140Z,1754689016.140 [DAT](INFO): got valid direction response:
 21:36:55.6331 LVL= 22400, 25137, 32754, 32755, AGC= 35, IDX= 501, 0.36, 2.019, 1.660, 1.548,-3.114, PHS=-1.048,-1.464,-1.665, RAW=  71.4,  69.7, CAL=  69.7,  72.5, ROT=  80.3, -72.5

2025-08-08T21:36:56.141Z,1754689016.141 [DAT](INFO): #Rx 5: Read range and direction messages.
2025-08-08T21:36:56.142Z,1754689016.142 [DAT](INFO): direction in FSK: [0.050666,0.296407,0.953717]
2025-08-08T21:36:56.142Z,1754689016.142 [DAT](INFO): publishing direction and range info
2025-08-08T21:36:56.174Z,1754689016.174 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.583641
2025-08-08T21:36:56.289Z,1754689016.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.600000 m,
      deltaT: 0.501706 s,
      deltaX: 0.100000 m,
      approachRate: 0.199320 m/s,
      rangeRepo size: 4

2025-08-08T21:36:56.299Z,1754689016.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.600000 m,
      bearing: 144.960860 deg,
      lat: 36.906032 deg,
      lon: -122.115847 deg,
      deltaT: 0.501706 s,
      deltaX: 0.100000 m,
      approachRate: 0.199320 m/s,
      posRepo size: 4

2025-08-08T21:36:56.374Z,1754689016.374 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.783799
2025-08-08T21:36:56.627Z,1754689016.627 [DAT](INFO): DAT read: Rx Time:21:36:56.1330 

2025-08-08T21:36:56.627Z,1754689016.627 [DAT](INFO): Rx dataTimestamp_ set to:1754689016.626960
2025-08-08T21:36:56.629Z,1754689016.629 [DAT](INFO): DAT read: Bearing 300.9,  17.0 (Local)

2025-08-08T21:36:56.629Z,1754689016.629 [DAT](INFO): Local bearing/azimuth received:
 Bearing 300.9,  17.0 (Local)

2025-08-08T21:36:56.631Z,1754689016.631 [DAT](INFO): DAT read: Range 11 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-08-08T21:36:56.636Z,1754689016.636 [DAT](INFO): DAT read: 21:36:56.1330 LVL= 24032, 19441, 32754, 32755, AGC= 32, IDX= 501,-0.48,-0.525,-1.144,-1.070, 0.494, PHS=-0.917,-1.592,-1.607, RAW=  88.9,  64.9, CAL=  88.1,  68.5, ROT=  61.9, -68.5

2025-08-08T21:36:56.637Z,1754689016.637 [DAT](INFO): got valid direction response:
 21:36:56.1330 LVL= 24032, 19441, 32754, 32755, AGC= 32, IDX= 501,-0.48,-0.525,-1.144,-1.070, 0.494, PHS=-0.917,-1.592,-1.607, RAW=  88.9,  64.9, CAL=  88.1,  68.5, ROT=  61.9, -68.5

2025-08-08T21:36:56.637Z,1754689016.637 [DAT](INFO): #Rx 6: Read range and direction messages.
2025-08-08T21:36:56.638Z,1754689016.638 [DAT](INFO): direction in FSK: [0.172626,0.323301,0.930418]
2025-08-08T21:36:56.638Z,1754689016.638 [DAT](INFO): publishing direction and range info
2025-08-08T21:36:56.646Z,1754689016.646 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=5.055865
2025-08-08T21:36:56.767Z,1754689016.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.500000 m,
      deltaT: 0.501194 s,
      deltaX: -0.100000 m,
      approachRate: -0.199524 m/s,
      rangeRepo size: 4

2025-08-08T21:36:56.780Z,1754689016.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.500000 m,
      bearing: 147.932724 deg,
      lat: 36.906032 deg,
      lon: -122.115847 deg,
      deltaT: 0.501194 s,
      deltaX: -0.100000 m,
      approachRate: -0.199524 m/s,
      posRepo size: 4

2025-08-08T21:36:56.877Z,1754689016.877 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=5.286855
2025-08-08T21:36:57.130Z,1754689017.130 [DAT](INFO): DAT read: Rx Time:21:36:56.6330 

2025-08-08T21:36:57.130Z,1754689017.130 [DAT](INFO): Rx dataTimestamp_ set to:1754689017.129720
2025-08-08T21:36:57.131Z,1754689017.131 [DAT](INFO): DAT read: Bearing 351.6,  17.5 (Local)

2025-08-08T21:36:57.132Z,1754689017.132 [DAT](INFO): Local bearing/azimuth received:
 Bearing 351.6,  17.5 (Local)

2025-08-08T21:36:57.134Z,1754689017.134 [DAT](INFO): DAT read: Range 11 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-08-08T21:36:57.138Z,1754689017.138 [DAT](INFO): DAT read: 21:36:56.6330 LVL= 29216, 19521, 32754, 32755, AGC= 32, IDX= 503,-0.04, 0.659, 1.440,-0.397, 1.743, PHS=-0.982,-0.258,-2.184, RAW=   8.2,  35.7, CAL=   6.4,  41.4, ROT= 143.6, -41.4

2025-08-08T21:36:57.139Z,1754689017.139 [DAT](INFO): got valid direction response:
 21:36:56.6330 LVL= 29216, 19521, 32754, 32755, AGC= 32, IDX= 503,-0.04, 0.659, 1.440,-0.397, 1.743, PHS=-0.982,-0.258,-2.184, RAW=   8.2,  35.7, CAL=   6.4,  41.4, ROT= 143.6, -41.4

2025-08-08T21:36:57.140Z,1754689017.140 [DAT](INFO): #Rx 7: Read range and direction messages.
2025-08-08T21:36:57.141Z,1754689017.141 [DAT](INFO): direction in FSK: [-0.603760,0.445130,0.661312]
2025-08-08T21:36:57.141Z,1754689017.141 [DAT](INFO): publishing direction and range info
2025-08-08T21:36:57.145Z,1754689017.145 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.554689
2025-08-08T21:36:57.215Z,1754689017.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.500000 m,
      deltaT: 0.502760 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-08T21:36:57.230Z,1754689017.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.500000 m,
      bearing: 149.340072 deg,
      lat: 36.906032 deg,
      lon: -122.115847 deg,
      deltaT: 0.502760 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-08T21:36:57.381Z,1754689017.381 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.790952
2025-08-08T21:36:57.633Z,1754689017.633 [DAT](INFO): DAT read: Rx Time:21:36:57.1329 

2025-08-08T21:36:57.634Z,1754689017.634 [DAT](INFO): Rx dataTimestamp_ set to:1754689017.633685
2025-08-08T21:36:57.635Z,1754689017.635 [DAT](INFO): DAT read: Bearing 356.4,  13.5 (Local)

2025-08-08T21:36:57.636Z,1754689017.636 [DAT](INFO): Local bearing/azimuth received:
 Bearing 356.4,  13.5 (Local)

2025-08-08T21:36:57.638Z,1754689017.638 [DAT](INFO): DAT read: Range 11 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2025-08-08T21:36:57.643Z,1754689017.643 [DAT](INFO): DAT read: 21:36:57.1329 LVL= 30704, 21489, 32754, 32755, AGC= 34, IDX= 502,-0.04, 0.702, 1.818,-0.247, 1.886, PHS=-1.082,-0.023,-2.177, RAW=   0.6,  31.9, CAL= 359.1,  37.2, ROT= 150.9, -37.2

2025-08-08T21:36:57.644Z,1754689017.644 [DAT](INFO): got valid direction response:
 21:36:57.1329 LVL= 30704, 21489, 32754, 32755, AGC= 34, IDX= 502,-0.04, 0.702, 1.818,-0.247, 1.886, PHS=-1.082,-0.023,-2.177, RAW=   0.6,  31.9, CAL= 359.1,  37.2, ROT= 150.9, -37.2

2025-08-08T21:36:57.644Z,1754689017.644 [DAT](INFO): #Rx 8: Read range and direction messages.
2025-08-08T21:36:57.645Z,1754689017.645 [DAT](INFO): direction in FSK: [-0.695986,0.387381,0.604599]
2025-08-08T21:36:57.646Z,1754689017.646 [DAT](INFO): publishing direction and range info
2025-08-08T21:36:57.667Z,1754689017.667 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=6.076177
2025-08-08T21:36:57.678Z,1754689017.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.300000 m,
      deltaT: 0.503965 s,
      deltaX: -0.200000 m,
      approachRate: -0.396853 m/s,
      rangeRepo size: 4

2025-08-08T21:36:57.693Z,1754689017.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.300000 m,
      bearing: 154.843741 deg,
      lat: 36.906032 deg,
      lon: -122.115847 deg,
      deltaT: 0.503965 s,
      deltaX: -0.200000 m,
      approachRate: -0.396853 m/s,
      posRepo size: 4

2025-08-08T21:36:57.886Z,1754689017.886 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=6.296072
2025-08-08T21:36:58.105Z,1754689018.105 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-08T21:36:58.137Z,1754689018.137 [DAT](INFO): DAT read: Rx Time:21:36:57.6330 

2025-08-08T21:36:58.138Z,1754689018.138 [DAT](INFO): Rx dataTimestamp_ set to:1754689018.137275
2025-08-08T21:36:58.139Z,1754689018.139 [DAT](INFO): DAT read: Range 11 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-08-08T21:36:58.139Z,1754689018.139 [DAT](ERROR): #Rx 9: Read range message, but no direction.
2025-08-08T21:36:58.140Z,1754689018.140 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.550338
2025-08-08T21:36:58.389Z,1754689018.389 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.799147
2025-08-08T21:36:58.469Z,1754689018.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.500000 m,
      deltaT: 0.503590 s,
      deltaX: 0.200000 m,
      approachRate: 0.397148 m/s,
      rangeRepo size: 4

2025-08-08T21:36:58.642Z,1754689018.642 [DAT](INFO): DAT read: Rx Time:21:36:58.1329 

2025-08-08T21:36:58.643Z,1754689018.643 [DAT](INFO): Rx dataTimestamp_ set to:1754689018.642245
2025-08-08T21:36:58.645Z,1754689018.645 [DAT](INFO): DAT read: Range 11 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2025-08-08T21:36:58.646Z,1754689018.646 [DAT](ERROR): #Rx 10: Read range message, but no direction.
2025-08-08T21:36:58.647Z,1754689018.647 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=7.056767
2025-08-08T21:36:58.893Z,1754689018.893 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=7.302829
2025-08-08T21:36:58.941Z,1754689018.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.300000 m,
      deltaT: 0.504970 s,
      deltaX: -0.200000 m,
      approachRate: -0.396063 m/s,
      rangeRepo size: 4

2025-08-08T21:36:59.146Z,1754689019.146 [DAT](INFO): DAT read: Rx Time:21:36:58.6331 

2025-08-08T21:36:59.146Z,1754689019.146 [DAT](INFO): Rx dataTimestamp_ set to:1754689019.146156
2025-08-08T21:36:59.148Z,1754689019.148 [DAT](INFO): DAT read: Range 11 to 50 :     0.6 m (trip time 0.4 ms) speed 0.0

2025-08-08T21:36:59.149Z,1754689019.149 [DAT](ERROR): #Rx 11: Read range message, but no direction.
2025-08-08T21:36:59.150Z,1754689019.150 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=7.559870
2025-08-08T21:36:59.374Z,1754689019.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.600000 m,
      deltaT: 0.503911 s,
      deltaX: 0.300000 m,
      approachRate: 0.595343 m/s,
      rangeRepo size: 4

2025-08-08T21:36:59.400Z,1754689019.400 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=7.810329
2025-08-08T21:36:59.649Z,1754689019.649 [DAT](INFO): DAT read: Rx Time:21:36:59.1330 

2025-08-08T21:36:59.649Z,1754689019.649 [DAT](INFO): Rx dataTimestamp_ set to:1754689019.649080
2025-08-08T21:36:59.651Z,1754689019.651 [DAT](INFO): DAT read: Range 11 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-08-08T21:36:59.651Z,1754689019.651 [DAT](ERROR): #Rx 12: Read range message, but no direction.
2025-08-08T21:36:59.653Z,1754689019.653 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=8.063085
2025-08-08T21:36:59.780Z,1754689019.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.500000 m,
      deltaT: 0.502924 s,
      deltaX: -0.100000 m,
      approachRate: -0.198837 m/s,
      rangeRepo size: 4

2025-08-08T21:36:59.901Z,1754689019.901 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=8.310711
2025-08-08T21:37:00.153Z,1754689020.153 [DAT](INFO): DAT read: Rx Time:21:36:59.6330 

2025-08-08T21:37:00.153Z,1754689020.153 [DAT](INFO): Rx dataTimestamp_ set to:1754689020.153130
2025-08-08T21:37:00.155Z,1754689020.155 [DAT](INFO): DAT read: Range 11 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-08-08T21:37:00.155Z,1754689020.155 [DAT](ERROR): #Rx 13: Read range message, but no direction.
2025-08-08T21:37:00.156Z,1754689020.156 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=8.566181
2025-08-08T21:37:00.238Z,1754689020.238 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-08T21:37:00.245Z,1754689020.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.500000 m,
      deltaT: 0.504050 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-08T21:37:00.405Z,1754689020.405 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=8.814795
2025-08-08T21:37:00.658Z,1754689020.658 [DAT](INFO): DAT read: Rx Time:21:37:00.1329 

2025-08-08T21:37:00.658Z,1754689020.658 [DAT](INFO): Rx dataTimestamp_ set to:1754689020.657913
2025-08-08T21:37:00.659Z,1754689020.659 [DAT](INFO): DAT read: Bearing 357.9,  16.4 (Local)

2025-08-08T21:37:00.660Z,1754689020.660 [DAT](INFO): Local bearing/azimuth received:
 Bearing 357.9,  16.4 (Local)

2025-08-08T21:37:00.662Z,1754689020.662 [DAT](INFO): DAT read: Range 11 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2025-08-08T21:37:00.667Z,1754689020.667 [DAT](INFO): DAT read: 21:37:00.1329 LVL= 26848, 24657, 30034, 32755, AGC= 35, IDX= 502,-0.44, 1.813, 3.114, 0.940, 2.838, PHS=-0.923, 0.321,-1.942, RAW= 356.7,  24.6, CAL= 356.3,  29.4, ROT= 153.7, -29.4

2025-08-08T21:37:00.668Z,1754689020.668 [DAT](INFO): got valid direction response:
 21:37:00.1329 LVL= 26848, 24657, 30034, 32755, AGC= 35, IDX= 502,-0.44, 1.813, 3.114, 0.940, 2.838, PHS=-0.923, 0.321,-1.942, RAW= 356.7,  24.6, CAL= 356.3,  29.4, ROT= 153.7, -29.4

2025-08-08T21:37:00.669Z,1754689020.669 [DAT](INFO): #Rx 14: Read range and direction messages.
2025-08-08T21:37:00.670Z,1754689020.670 [DAT](INFO): direction in FSK: [-0.781031,0.386010,0.490904]
2025-08-08T21:37:00.670Z,1754689020.670 [DAT](INFO): publishing direction and range info
2025-08-08T21:37:00.679Z,1754689020.679 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=9.088581
2025-08-08T21:37:00.914Z,1754689020.914 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=9.324245
2025-08-08T21:37:01.013Z,1754689021.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.300000 m,
      deltaT: 0.504783 s,
      deltaX: -0.200000 m,
      approachRate: -0.396210 m/s,
      rangeRepo size: 4

2025-08-08T21:37:01.015Z,1754689021.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.300000 m,
      bearing: 206.681340 deg,
      lat: 36.906032 deg,
      lon: -122.115849 deg,
      deltaT: 3.024228 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-08T21:37:01.166Z,1754689021.166 [DAT](INFO): DAT read: Rx Time:21:37:00.6330 

2025-08-08T21:37:01.166Z,1754689021.166 [DAT](INFO): Rx dataTimestamp_ set to:1754689021.165741
2025-08-08T21:37:01.167Z,1754689021.167 [DAT](INFO): DAT read: Bearing 358.4,  15.4 (Local)

2025-08-08T21:37:01.168Z,1754689021.168 [DAT](INFO): Local bearing/azimuth received:
 Bearing 358.4,  15.4 (Local)

2025-08-08T21:37:01.170Z,1754689021.170 [DAT](INFO): DAT read: Range 11 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-08-08T21:37:01.174Z,1754689021.174 [DAT](INFO): DAT read: 21:37:00.6330 LVL= 29680, 30161, 32754, 32755, AGC= 36, IDX= 503,-0.35, 2.889,-1.995, 2.073,-2.341, PHS=-0.951, 0.391,-1.913, RAW= 354.6,  23.6, CAL= 354.2,  28.3, ROT= 155.8, -28.3

2025-08-08T21:37:01.175Z,1754689021.175 [DAT](INFO): got valid direction response:
 21:37:00.6330 LVL= 29680, 30161, 32754, 32755, AGC= 36, IDX= 503,-0.35, 2.889,-1.995, 2.073,-2.341, PHS=-0.951, 0.391,-1.913, RAW= 354.6,  23.6, CAL= 354.2,  28.3, ROT= 155.8, -28.3

2025-08-08T21:37:01.176Z,1754689021.176 [DAT](INFO): #Rx 15: Read range and direction messages.
2025-08-08T21:37:01.177Z,1754689021.177 [DAT](INFO): direction in FSK: [-0.803101,0.360928,0.474088]
2025-08-08T21:37:01.177Z,1754689021.177 [DAT](INFO): publishing direction and range info
2025-08-08T21:37:01.186Z,1754689021.186 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=9.595969
2025-08-08T21:37:01.389Z,1754689021.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.500000 m,
      deltaT: 0.507828 s,
      deltaX: 0.200000 m,
      approachRate: 0.393834 m/s,
      rangeRepo size: 4

2025-08-08T21:37:01.391Z,1754689021.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.500000 m,
      bearing: 218.792962 deg,
      lat: 36.906032 deg,
      lon: -122.115850 deg,
      deltaT: 0.507828 s,
      deltaX: 0.200000 m,
      approachRate: 0.393834 m/s,
      posRepo size: 4

2025-08-08T21:37:01.417Z,1754689021.417 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=9.826925
2025-08-08T21:37:01.672Z,1754689021.672 [DAT](INFO): DAT read: Rx Time:21:37:01.1329 

2025-08-08T21:37:01.673Z,1754689021.673 [DAT](INFO): Rx dataTimestamp_ set to:1754689021.672583
2025-08-08T21:37:01.674Z,1754689021.674 [DAT](INFO): DAT read: Bearing 359.2,  14.6 (Local)

2025-08-08T21:37:01.674Z,1754689021.674 [DAT](INFO): Local bearing/azimuth received:
 Bearing 359.2,  14.6 (Local)

2025-08-08T21:37:01.677Z,1754689021.677 [DAT](INFO): DAT read: Range 11 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2025-08-08T21:37:01.681Z,1754689021.681 [DAT](INFO): DAT read: 21:37:01.1329 LVL= 27776, 23377, 32754, 32755, AGC= 35, IDX= 502,-0.34, 2.995,-1.832, 2.244,-2.240, PHS=-0.946, 0.453,-1.843, RAW= 352.8,  22.4, CAL= 352.6,  27.1, ROT= 157.4, -27.1

2025-08-08T21:37:01.682Z,1754689021.682 [DAT](INFO): got valid direction response:
 21:37:01.1329 LVL= 27776, 23377, 32754, 32755, AGC= 35, IDX= 502,-0.34, 2.995,-1.832, 2.244,-2.240, PHS=-0.946, 0.453,-1.843, RAW= 352.8,  22.4, CAL= 352.6,  27.1, ROT= 157.4, -27.1

2025-08-08T21:37:01.683Z,1754689021.683 [DAT](INFO): #Rx 16: Read range and direction messages.
2025-08-08T21:37:01.684Z,1754689021.684 [DAT](INFO): direction in FSK: [-0.821853,0.342105,0.455545]
2025-08-08T21:37:01.685Z,1754689021.685 [DAT](INFO): publishing direction and range info
2025-08-08T21:37:01.693Z,1754689021.693 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=10.103092
2025-08-08T21:37:01.924Z,1754689021.924 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=10.333154
2025-08-08T21:37:01.926Z,1754689021.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.300000 m,
      deltaT: 0.506842 s,
      deltaX: -0.200000 m,
      approachRate: -0.394600 m/s,
      rangeRepo size: 4

2025-08-08T21:37:01.932Z,1754689021.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.300000 m,
      bearing: 220.681970 deg,
      lat: 36.906032 deg,
      lon: -122.115850 deg,
      deltaT: 0.506842 s,
      deltaX: -0.200000 m,
      approachRate: -0.394600 m/s,
      posRepo size: 4

2025-08-08T21:37:02.173Z,1754689022.173 [DAT](INFO): DAT read: Rx Time:21:37:01.6331 

2025-08-08T21:37:02.174Z,1754689022.174 [DAT](INFO): Rx dataTimestamp_ set to:1754689022.173564
2025-08-08T21:37:02.175Z,1754689022.175 [DAT](INFO): DAT read: Bearing 358.1,  13.5 (Local)

2025-08-08T21:37:02.175Z,1754689022.175 [DAT](INFO): Local bearing/azimuth received:
 Bearing 358.1,  13.5 (Local)

2025-08-08T21:37:02.178Z,1754689022.178 [DAT](INFO): DAT read: Range 11 to 50 :     0.6 m (trip time 0.4 ms) speed 0.0

2025-08-08T21:37:02.182Z,1754689022.182 [DAT](INFO): DAT read: 21:37:01.6331 LVL= 31456, 21217, 32754, 32755, AGC= 34, IDX= 503,-0.33,-0.790, 0.671,-1.464, 0.288, PHS=-0.976, 0.428,-1.796, RAW= 351.4,  23.0, CAL= 351.1,  27.8, ROT= 158.9, -27.8

2025-08-08T21:37:02.183Z,1754689022.183 [DAT](INFO): got valid direction response:
 21:37:01.6331 LVL= 31456, 21217, 32754, 32755, AGC= 34, IDX= 503,-0.33,-0.790, 0.671,-1.464, 0.288, PHS=-0.976, 0.428,-1.796, RAW= 351.4,  23.0, CAL= 351.1,  27.8, ROT= 158.9, -27.8

2025-08-08T21:37:02.183Z,1754689022.183 [DAT](INFO): #Rx 17: Read range and direction messages.
2025-08-08T21:37:02.188Z,1754689022.188 [DAT](INFO): direction in FSK: [-0.825273,0.318446,0.466387]
2025-08-08T21:37:02.189Z,1754689022.189 [DAT](INFO): publishing direction and range info
2025-08-08T21:37:02.192Z,1754689022.192 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=10.602112
2025-08-08T21:37:02.421Z,1754689022.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.600000 m,
      deltaT: 0.500981 s,
      deltaX: 0.300000 m,
      approachRate: 0.598825 m/s,
      rangeRepo size: 4

2025-08-08T21:37:02.423Z,1754689022.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.600000 m,
      bearing: 222.010267 deg,
      lat: 36.906032 deg,
      lon: -122.115850 deg,
      deltaT: 0.500981 s,
      deltaX: 0.300000 m,
      approachRate: 0.598825 m/s,
      posRepo size: 4

2025-08-08T21:37:02.433Z,1754689022.433 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=10.842967
2025-08-08T21:37:02.685Z,1754689022.685 [DAT](INFO): DAT read: Rx Time:21:37:02.1330 

2025-08-08T21:37:02.686Z,1754689022.686 [DAT](INFO): Rx dataTimestamp_ set to:1754689022.685554
2025-08-08T21:37:02.687Z,1754689022.687 [DAT](INFO): DAT read: Bearing 356.0,  12.0 (Local)

2025-08-08T21:37:02.687Z,1754689022.687 [DAT](INFO): Local bearing/azimuth received:
 Bearing 356.0,  12.0 (Local)

2025-08-08T21:37:02.690Z,1754689022.690 [DAT](INFO): DAT read: Range 11 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-08-08T21:37:02.694Z,1754689022.694 [DAT](INFO): DAT read: 21:37:02.1330 LVL= 31600, 21265, 32754, 32755, AGC= 34, IDX= 502,-0.30,-1.384, 0.049,-1.966,-0.262, PHS=-1.020, 0.356,-1.748, RAW= 349.9,  24.7, CAL= 349.5,  29.5, ROT= 160.5, -29.5

2025-08-08T21:37:02.695Z,1754689022.695 [DAT](INFO): got valid direction response:
 21:37:02.1330 LVL= 31600, 21265, 32754, 32755, AGC= 34, IDX= 502,-0.30,-1.384, 0.049,-1.966,-0.262, PHS=-1.020, 0.356,-1.748, RAW= 349.9,  24.7, CAL= 349.5,  29.5, ROT= 160.5, -29.5

2025-08-08T21:37:02.696Z,1754689022.696 [DAT](INFO): #Rx 18: Read range and direction messages.
2025-08-08T21:37:02.697Z,1754689022.697 [DAT](INFO): direction in FSK: [-0.820433,0.290531,0.492424]
2025-08-08T21:37:02.697Z,1754689022.697 [DAT](INFO): publishing direction and range info
2025-08-08T21:37:02.714Z,1754689022.714 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=11.124215
2025-08-08T21:37:02.801Z,1754689022.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.500000 m,
      deltaT: 0.511990 s,
      deltaX: -0.100000 m,
      approachRate: -0.195316 m/s,
      rangeRepo size: 4

2025-08-08T21:37:02.803Z,1754689022.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.500000 m,
      bearing: 209.549860 deg,
      lat: 36.906031 deg,
      lon: -122.115849 deg,
      deltaT: 0.511990 s,
      deltaX: -0.100000 m,
      approachRate: -0.195316 m/s,
      posRepo size: 4

2025-08-08T21:37:02.937Z,1754689022.937 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=11.346890
2025-08-08T21:37:03.190Z,1754689023.190 [DAT](INFO): DAT read: Rx Time:21:37:02.6331 

2025-08-08T21:37:03.190Z,1754689023.190 [DAT](INFO): Rx dataTimestamp_ set to:1754689023.189757
2025-08-08T21:37:03.191Z,1754689023.191 [DAT](INFO): DAT read: Bearing 354.6,  10.1 (Local)

2025-08-08T21:37:03.192Z,1754689023.192 [DAT](INFO): Local bearing/azimuth received:
 Bearing 354.6,  10.1 (Local)

2025-08-08T21:37:03.194Z,1754689023.194 [DAT](INFO): DAT read: Range 11 to 50 :     0.6 m (trip time 0.4 ms) speed 0.0

2025-08-08T21:37:03.198Z,1754689023.198 [DAT](INFO): DAT read: 21:37:02.6331 LVL= 31904, 22321, 32242, 32755, AGC= 34, IDX= 503,-0.24, 0.374, 1.811,-0.119, 1.542, PHS=-1.065, 0.314,-1.705, RAW= 348.0,  25.9, CAL= 347.5,  30.8, ROT= 162.5, -30.8

2025-08-08T21:37:03.199Z,1754689023.199 [DAT](INFO): got valid direction response:
 21:37:02.6331 LVL= 31904, 22321, 32242, 32755, AGC= 34, IDX= 503,-0.24, 0.374, 1.811,-0.119, 1.542, PHS=-1.065, 0.314,-1.705, RAW= 348.0,  25.9, CAL= 347.5,  30.8, ROT= 162.5, -30.8

2025-08-08T21:37:03.200Z,1754689023.200 [DAT](INFO): #Rx 19: Read range and direction messages.
2025-08-08T21:37:03.201Z,1754689023.201 [DAT](INFO): direction in FSK: [-0.819205,0.258294,0.512043]
2025-08-08T21:37:03.201Z,1754689023.201 [DAT](INFO): publishing direction and range info
2025-08-08T21:37:03.216Z,1754689023.216 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=11.626226
2025-08-08T21:37:03.237Z,1754689023.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.600000 m,
      deltaT: 0.504203 s,
      deltaX: 0.100000 m,
      approachRate: 0.198333 m/s,
      rangeRepo size: 4

2025-08-08T21:37:03.239Z,1754689023.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.600000 m,
      bearing: 211.066346 deg,
      lat: 36.906031 deg,
      lon: -122.115850 deg,
      deltaT: 0.504203 s,
      deltaX: 0.100000 m,
      approachRate: 0.198333 m/s,
      posRepo size: 4

2025-08-08T21:37:03.441Z,1754689023.441 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=11.850860
2025-08-08T21:37:03.590Z,1754689023.590 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-08T21:37:03.694Z,1754689023.694 [DAT](INFO): DAT read: Rx Time:21:37:03.1330 

2025-08-08T21:37:03.695Z,1754689023.695 [DAT](INFO): Rx dataTimestamp_ set to:1754689023.694504
2025-08-08T21:37:03.696Z,1754689023.696 [DAT](INFO): DAT read: Bearing 353.8,   8.6 (Local)

2025-08-08T21:37:03.696Z,1754689023.696 [DAT](INFO): Local bearing/azimuth received:
 Bearing 353.8,   8.6 (Local)

2025-08-08T21:37:03.698Z,1754689023.698 [DAT](INFO): DAT read: Range 11 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-08-08T21:37:03.706Z,1754689023.706 [DAT](INFO): DAT read: 21:37:03.1330 LVL= 29168, 22785, 31714, 32755, AGC= 34, IDX= 502,-0.18,-0.200, 1.242,-0.622, 0.996, PHS=-1.094, 0.291,-1.662, RAW= 346.4,  26.6, CAL= 345.8,  31.5, ROT= 164.2, -31.5

2025-08-08T21:37:03.707Z,1754689023.707 [DAT](INFO): got valid direction response:
 21:37:03.1330 LVL= 29168, 22785, 31714, 32755, AGC= 34, IDX= 502,-0.18,-0.200, 1.242,-0.622, 0.996, PHS=-1.094, 0.291,-1.662, RAW= 346.4,  26.6, CAL= 345.8,  31.5, ROT= 164.2, -31.5

2025-08-08T21:37:03.738Z,1754689023.738 [DAT](INFO): #Rx 20: Read range and direction messages.
2025-08-08T21:37:03.739Z,1754689023.739 [DAT](INFO): direction in FSK: [-0.820426,0.232157,0.522499]
2025-08-08T21:37:03.739Z,1754689023.739 [DAT](INFO): publishing direction and range info
2025-08-08T21:37:03.761Z,1754689023.761 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=12.170909
2025-08-08T21:37:03.948Z,1754689023.948 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=12.356927
2025-08-08T21:37:04.040Z,1754689024.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.500000 m,
      deltaT: 0.504747 s,
      deltaX: -0.100000 m,
      approachRate: -0.198119 m/s,
      rangeRepo size: 4

2025-08-08T21:37:04.042Z,1754689024.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.500000 m,
      bearing: 210.290492 deg,
      lat: 36.906031 deg,
      lon: -122.115849 deg,
      deltaT: 0.504747 s,
      deltaX: -0.100000 m,
      approachRate: -0.198119 m/s,
      posRepo size: 4

2025-08-08T21:37:04.197Z,1754689024.197 [DAT](INFO): DAT read: Rx Time:21:37:03.6330 

2025-08-08T21:37:04.198Z,1754689024.198 [DAT](INFO): Rx dataTimestamp_ set to:1754689024.197546
2025-08-08T21:37:04.199Z,1754689024.199 [DAT](INFO): DAT read: Bearing 353.3,   7.6 (Local)

2025-08-08T21:37:04.199Z,1754689024.199 [DAT](INFO): Local bearing/azimuth received:
 Bearing 353.3,   7.6 (Local)

2025-08-08T21:37:04.202Z,1754689024.202 [DAT](INFO): DAT read: Range 11 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-08-08T21:37:04.207Z,1754689024.207 [DAT](INFO): DAT read: 21:37:03.6330 LVL= 29104, 23025, 30594, 32755, AGC= 34, IDX= 502,-0.09, 0.469, 1.903, 0.091, 1.675, PHS=-1.104, 0.273,-1.628, RAW= 345.5,  27.1, CAL= 344.8,  32.0, ROT= 165.2, -32.0

2025-08-08T21:37:04.212Z,1754689024.212 [DAT](INFO): got valid direction response:
 21:37:03.6330 LVL= 29104, 23025, 30594, 32755, AGC= 34, IDX= 502,-0.09, 0.469, 1.903, 0.091, 1.675, PHS=-1.104, 0.273,-1.628, RAW= 345.5,  27.1, CAL= 344.8,  32.0, ROT= 165.2, -32.0

2025-08-08T21:37:04.213Z,1754689024.213 [DAT](INFO): #Rx 21: Read range and direction messages.
2025-08-08T21:37:04.214Z,1754689024.214 [DAT](INFO): direction in FSK: [-0.819913,0.216630,0.529919]
2025-08-08T21:37:04.214Z,1754689024.214 [DAT](INFO): publishing direction and range info
2025-08-08T21:37:04.251Z,1754689024.251 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=12.660632
2025-08-08T21:37:04.450Z,1754689024.450 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=12.859449
2025-08-08T21:37:04.574Z,1754689024.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.500000 m,
      deltaT: 0.503042 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-08T21:37:04.606Z,1754689024.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.500000 m,
      bearing: 211.670250 deg,
      lat: 36.906031 deg,
      lon: -122.115849 deg,
      deltaT: 0.503042 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-08T21:37:04.703Z,1754689024.703 [DAT](INFO): DAT read: Rx Time:21:37:04.1329 

2025-08-08T21:37:04.704Z,1754689024.704 [DAT](INFO): Rx dataTimestamp_ set to:1754689024.703196
2025-08-08T21:37:04.706Z,1754689024.706 [DAT](INFO): DAT read: Bearing 353.2,   7.5 (Local)

2025-08-08T21:37:04.706Z,1754689024.706 [DAT](INFO): Local bearing/azimuth received:
 Bearing 353.2,   7.5 (Local)

2025-08-08T21:37:04.710Z,1754689024.710 [DAT](INFO): DAT read: Range 11 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2025-08-08T21:37:04.717Z,1754689024.717 [DAT](INFO): DAT read: 21:37:04.1329 LVL= 30880, 22945, 30578, 32755, AGC= 34, IDX= 501, 0.01,-0.029, 1.388,-0.402, 1.166, PHS=-1.093, 0.267,-1.611, RAW= 345.5,  27.1, CAL= 344.8,  32.1, ROT= 165.2, -32.1

2025-08-08T21:37:04.719Z,1754689024.719 [DAT](INFO): got valid direction response:
 21:37:04.1329 LVL= 30880, 22945, 30578, 32755, AGC= 34, IDX= 501, 0.01,-0.029, 1.388,-0.402, 1.166, PHS=-1.093, 0.267,-1.611, RAW= 345.5,  27.1, CAL= 344.8,  32.1, ROT= 165.2, -32.1

2025-08-08T21:37:04.719Z,1754689024.719 [DAT](INFO): #Rx 22: Read range and direction messages.
2025-08-08T21:37:04.734Z,1754689024.734 [DAT](INFO): direction in FSK: [-0.819017,0.216394,0.531399]
2025-08-08T21:37:04.734Z,1754689024.734 [DAT](INFO): publishing direction and range info
2025-08-08T21:37:04.748Z,1754689024.748 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=13.153639
2025-08-08T21:37:04.955Z,1754689024.955 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=13.365070
2025-08-08T21:37:05.033Z,1754689025.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.300000 m,
      deltaT: 0.505650 s,
      deltaX: -0.200000 m,
      approachRate: -0.395530 m/s,
      rangeRepo size: 4

2025-08-08T21:37:05.035Z,1754689025.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.300000 m,
      bearing: 215.823330 deg,
      lat: 36.906032 deg,
      lon: -122.115849 deg,
      deltaT: 0.505650 s,
      deltaX: -0.200000 m,
      approachRate: -0.395530 m/s,
      posRepo size: 4

2025-08-08T21:37:05.207Z,1754689025.207 [DAT](INFO): DAT read: Rx Time:21:37:04.6330 

2025-08-08T21:37:05.208Z,1754689025.208 [DAT](INFO): Rx dataTimestamp_ set to:1754689025.207113
2025-08-08T21:37:05.210Z,1754689025.210 [DAT](INFO): DAT read: Bearing 358.6,   8.2 (Local)

2025-08-08T21:37:05.210Z,1754689025.210 [DAT](INFO): Local bearing/azimuth received:
 Bearing 358.6,   8.2 (Local)

2025-08-08T21:37:05.219Z,1754689025.219 [DAT](INFO): DAT read: Range 11 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-08-08T21:37:05.238Z,1754689025.238 [DAT](INFO): DAT read: 21:37:04.6330 LVL= 26816, 21217, 29938, 32755, AGC= 34, IDX= 502, 0.16, 1.213, 2.801, 0.806, 2.358, PHS=-1.043, 0.488,-1.595, RAW= 344.8,  22.1, CAL= 344.7,  26.8, ROT= 165.3, -26.8

2025-08-08T21:37:05.248Z,1754689025.248 [DAT](INFO): got valid direction response:
 21:37:04.6330 LVL= 26816, 21217, 29938, 32755, AGC= 34, IDX= 502, 0.16, 1.213, 2.801, 0.806, 2.358, PHS=-1.043, 0.488,-1.595, RAW= 344.8,  22.1, CAL= 344.7,  26.8, ROT= 165.3, -26.8

2025-08-08T21:37:05.248Z,1754689025.248 [DAT](INFO): #Rx 23: Read range and direction messages.
2025-08-08T21:37:05.249Z,1754689025.249 [DAT](INFO): direction in FSK: [-0.863369,0.226501,0.450878]
2025-08-08T21:37:05.250Z,1754689025.250 [DAT](INFO): publishing direction and range info
2025-08-08T21:37:05.262Z,1754689025.262 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=13.672199
2025-08-08T21:37:05.457Z,1754689025.457 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=13.866874
2025-08-08T21:37:05.482Z,1754689025.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.500000 m,
      deltaT: 0.503917 s,
      deltaX: 0.200000 m,
      approachRate: 0.396891 m/s,
      rangeRepo size: 4

2025-08-08T21:37:05.488Z,1754689025.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.500000 m,
      bearing: 217.316682 deg,
      lat: 36.906032 deg,
      lon: -122.115849 deg,
      deltaT: 0.503917 s,
      deltaX: 0.200000 m,
      approachRate: 0.396891 m/s,
      posRepo size: 4

2025-08-08T21:37:05.710Z,1754689025.710 [DAT](INFO): DAT read: Rx Time:21:37:05.1329 

2025-08-08T21:37:05.710Z,1754689025.710 [DAT](INFO): Rx dataTimestamp_ set to:1754689025.709709
2025-08-08T21:37:05.711Z,1754689025.711 [DAT](INFO): DAT read: Bearing 347.9,  10.7 (Local)

2025-08-08T21:37:05.712Z,1754689025.712 [DAT](INFO): Local bearing/azimuth received:
 Bearing 347.9,  10.7 (Local)

2025-08-08T21:37:05.714Z,1754689025.714 [DAT](INFO): DAT read: Range 11 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2025-08-08T21:37:05.718Z,1754689025.718 [DAT](INFO): DAT read: 21:37:05.1329 LVL= 26592, 21857, 30098, 32755, AGC= 33, IDX= 501, 0.30, 0.154, 1.275,-0.314, 1.264, PHS=-1.008, 0.056,-1.622, RAW= 351.2,  31.8, CAL= 349.9,  36.9, ROT= 160.1, -36.9

2025-08-08T21:37:05.719Z,1754689025.719 [DAT](INFO): got valid direction response:
 21:37:05.1329 LVL= 26592, 21857, 30098, 32755, AGC= 33, IDX= 501, 0.30, 0.154, 1.275,-0.314, 1.264, PHS=-1.008, 0.056,-1.622, RAW= 351.2,  31.8, CAL= 349.9,  36.9, ROT= 160.1, -36.9

2025-08-08T21:37:05.720Z,1754689025.720 [DAT](INFO): #Rx 24: Read range and direction messages.
2025-08-08T21:37:05.721Z,1754689025.721 [DAT](INFO): direction in FSK: [-0.751934,0.272196,0.600420]
2025-08-08T21:37:05.721Z,1754689025.721 [DAT](INFO): publishing direction and range info
2025-08-08T21:37:05.761Z,1754689025.761 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=14.137626
2025-08-08T21:37:05.963Z,1754689025.963 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=14.373075
2025-08-08T21:37:05.986Z,1754689025.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.300000 m,
      deltaT: 0.502596 s,
      deltaX: -0.200000 m,
      approachRate: -0.397934 m/s,
      rangeRepo size: 4

2025-08-08T21:37:05.993Z,1754689025.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.300000 m,
      bearing: 216.112370 deg,
      lat: 36.906032 deg,
      lon: -122.115848 deg,
      deltaT: 0.502596 s,
      deltaX: -0.200000 m,
      approachRate: -0.397934 m/s,
      posRepo size: 4

2025-08-08T21:37:06.215Z,1754689026.215 [DAT](INFO): DAT read: Rx Time:21:37:05.6331 

2025-08-08T21:37:06.215Z,1754689026.215 [DAT](INFO): Rx dataTimestamp_ set to:1754689026.214761
2025-08-08T21:37:06.223Z,1754689026.223 [DAT](INFO): DAT read: Bearing 348.5,  12.5 (Local)

2025-08-08T21:37:06.223Z,1754689026.223 [DAT](INFO): Local bearing/azimuth received:
 Bearing 348.5,  12.5 (Local)

2025-08-08T21:37:06.225Z,1754689026.225 [DAT](INFO): DAT read: Range 11 to 50 :     0.6 m (trip time 0.4 ms) speed 0.0

2025-08-08T21:37:06.235Z,1754689026.235 [DAT](INFO): DAT read: 21:37:05.6331 LVL= 24992, 19009, 30290, 32755, AGC= 33, IDX= 503,-0.43,-1.391,-0.282,-1.943,-0.310, PHS=-0.980, 0.072,-1.677, RAW= 353.3,  30.9, CAL= 352.1,  36.1, ROT= 157.9, -36.1

2025-08-08T21:37:06.237Z,1754689026.237 [DAT](INFO): got valid direction response:
 21:37:05.6331 LVL= 24992, 19009, 30290, 32755, AGC= 33, IDX= 503,-0.43,-1.391,-0.282,-1.943,-0.310, PHS=-0.980, 0.072,-1.677, RAW= 353.3,  30.9, CAL= 352.1,  36.1, ROT= 157.9, -36.1

2025-08-08T21:37:06.237Z,1754689026.237 [DAT](INFO): #Rx 25: Read range and direction messages.
2025-08-08T21:37:06.239Z,1754689026.239 [DAT](INFO): direction in FSK: [-0.748626,0.303985,0.589196]
2025-08-08T21:37:06.239Z,1754689026.239 [DAT](INFO): publishing direction and range info
2025-08-08T21:37:06.273Z,1754689026.273 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=14.682574
2025-08-08T21:37:06.451Z,1754689026.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.600000 m,
      deltaT: 0.505052 s,
      deltaX: 0.300000 m,
      approachRate: 0.593998 m/s,
      rangeRepo size: 4

2025-08-08T21:37:06.453Z,1754689026.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.600000 m,
      bearing: 211.586519 deg,
      lat: 36.906032 deg,
      lon: -122.115847 deg,
      deltaT: 0.505052 s,
      deltaX: 0.300000 m,
      approachRate: 0.593998 m/s,
      posRepo size: 4

2025-08-08T21:37:06.465Z,1754689026.465 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=14.874893
2025-08-08T21:37:06.718Z,1754689026.718 [DAT](INFO): DAT read: Rx Time:21:37:06.1330 

2025-08-08T21:37:06.718Z,1754689026.718 [DAT](INFO): Rx dataTimestamp_ set to:1754689026.717700
2025-08-08T21:37:06.719Z,1754689026.719 [DAT](INFO): DAT read: Bearing 344.1,  14.0 (Local)

2025-08-08T21:37:06.720Z,1754689026.720 [DAT](INFO): Local bearing/azimuth received:
 Bearing 344.1,  14.0 (Local)

2025-08-08T21:37:06.722Z,1754689026.722 [DAT](INFO): DAT read: Range 11 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-08-08T21:37:06.727Z,1754689026.727 [DAT](INFO): DAT read: 21:37:06.1330 LVL= 21744, 18113, 28946, 32755, AGC= 32, IDX= 502,-0.26,-2.449,-1.516,-3.039,-1.398, PHS=-0.949,-0.073,-1.685, RAW= 357.1,  34.4, CAL= 355.5,  39.8, ROT= 154.5, -39.8

2025-08-08T21:37:06.728Z,1754689026.728 [DAT](INFO): got valid direction response:
 21:37:06.1330 LVL= 21744, 18113, 28946, 32755, AGC= 32, IDX= 502,-0.26,-2.449,-1.516,-3.039,-1.398, PHS=-0.949,-0.073,-1.685, RAW= 357.1,  34.4, CAL= 355.5,  39.8, ROT= 154.5, -39.8

2025-08-08T21:37:06.728Z,1754689026.728 [DAT](INFO): #Rx 26: Read range and direction messages.
2025-08-08T21:37:06.729Z,1754689026.729 [DAT](INFO): direction in FSK: [-0.693441,0.330755,0.640110]
2025-08-08T21:37:06.729Z,1754689026.729 [DAT](INFO): publishing direction and range info
2025-08-08T21:37:06.741Z,1754689026.741 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=15.151395
2025-08-08T21:37:06.816Z,1754689026.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.500000 m,
      deltaT: 0.502939 s,
      deltaX: -0.100000 m,
      approachRate: -0.198831 m/s,
      rangeRepo size: 4

2025-08-08T21:37:06.832Z,1754689026.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.500000 m,
      bearing: 213.951720 deg,
      lat: 36.906033 deg,
      lon: -122.115847 deg,
      deltaT: 0.502939 s,
      deltaX: -0.100000 m,
      approachRate: -0.198831 m/s,
      posRepo size: 4

2025-08-08T21:37:06.972Z,1754689026.972 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=15.381257
2025-08-08T21:37:07.206Z,1754689027.206 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-08T21:37:07.221Z,1754689027.221 [DAT](INFO): DAT read: Rx Time:21:37:06.6331 

2025-08-08T21:37:07.222Z,1754689027.222 [DAT](INFO): Rx dataTimestamp_ set to:1754689027.221480
2025-08-08T21:37:07.223Z,1754689027.223 [DAT](INFO): DAT read: Bearing 343.6,  14.8 (Local)

2025-08-08T21:37:07.223Z,1754689027.223 [DAT](INFO): Local bearing/azimuth received:
 Bearing 343.6,  14.8 (Local)

2025-08-08T21:37:07.225Z,1754689027.225 [DAT](INFO): DAT read: Range 11 to 50 :     0.6 m (trip time 0.4 ms) speed 0.0

2025-08-08T21:37:07.234Z,1754689027.234 [DAT](INFO): DAT read: 21:37:06.6331 LVL= 20368, 16929, 29042, 32067, AGC= 32, IDX= 503,-0.12,-1.924,-1.018,-2.544,-0.878, PHS=-0.945,-0.095,-1.710, RAW= 358.3,  34.8, CAL= 356.6,  40.2, ROT= 153.4, -40.2

2025-08-08T21:37:07.235Z,1754689027.235 [DAT](INFO): got valid direction response:
 21:37:06.6331 LVL= 20368, 16929, 29042, 32067, AGC= 32, IDX= 503,-0.12,-1.924,-1.018,-2.544,-0.878, PHS=-0.945,-0.095,-1.710, RAW= 358.3,  34.8, CAL= 356.6,  40.2, ROT= 153.4, -40.2

2025-08-08T21:37:07.235Z,1754689027.235 [DAT](INFO): #Rx 27: Read range and direction messages.
2025-08-08T21:37:07.237Z,1754689027.237 [DAT](INFO): direction in FSK: [-0.682951,0.341997,0.645458]
2025-08-08T21:37:07.237Z,1754689027.237 [DAT](INFO): publishing direction and range info
2025-08-08T21:37:07.240Z,1754689027.240 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=15.650434
2025-08-08T21:37:07.474Z,1754689027.474 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=15.883750
2025-08-08T21:37:07.654Z,1754689027.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.600000 m,
      deltaT: 0.503780 s,
      deltaX: 0.100000 m,
      approachRate: 0.198499 m/s,
      rangeRepo size: 4

2025-08-08T21:37:07.664Z,1754689027.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.600000 m,
      bearing: 210.673315 deg,
      lat: 36.906032 deg,
      lon: -122.115846 deg,
      deltaT: 0.503780 s,
      deltaX: 0.100000 m,
      approachRate: 0.198499 m/s,
      posRepo size: 4

2025-08-08T21:37:07.726Z,1754689027.726 [DAT](INFO): DAT read: Rx Time:21:37:07.1330 

2025-08-08T21:37:07.727Z,1754689027.727 [DAT](INFO): Rx dataTimestamp_ set to:1754689027.726633
2025-08-08T21:37:07.728Z,1754689027.728 [DAT](INFO): DAT read: Bearing 341.7,  15.9 (Local)

2025-08-08T21:37:07.729Z,1754689027.729 [DAT](INFO): Local bearing/azimuth received:
 Bearing 341.7,  15.9 (Local)

2025-08-08T21:37:07.731Z,1754689027.731 [DAT](INFO): DAT read: Range 11 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-08-08T21:37:07.736Z,1754689027.736 [DAT](INFO): DAT read: 21:37:07.1330 LVL= 19920, 16865, 29394, 31475, AGC= 32, IDX= 502,-0.02,-2.310,-1.487,-2.948,-1.282, PHS=-0.926,-0.160,-1.710, RAW=   0.4,  36.4, CAL= 358.7,  41.7, ROT= 151.3, -41.7

2025-08-08T21:37:07.737Z,1754689027.737 [DAT](INFO): got valid direction response:
 21:37:07.1330 LVL= 19920, 16865, 29394, 31475, AGC= 32, IDX= 502,-0.02,-2.310,-1.487,-2.948,-1.282, PHS=-0.926,-0.160,-1.710, RAW=   0.4,  36.4, CAL= 358.7,  41.7, ROT= 151.3, -41.7

2025-08-08T21:37:07.738Z,1754689027.738 [DAT](INFO): #Rx 28: Read range and direction messages.
2025-08-08T21:37:07.739Z,1754689027.739 [DAT](INFO): direction in FSK: [-0.654911,0.358553,0.665230]
2025-08-08T21:37:07.745Z,1754689027.745 [DAT](INFO): publishing direction and range info
2025-08-08T21:37:07.754Z,1754689027.754 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=16.164381
2025-08-08T21:37:07.981Z,1754689027.981 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=16.389111
2025-08-08T21:37:08.070Z,1754689028.070 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. Device response is::WD,       +83.38+     +18.91,  20.00
2025-08-08T21:37:08.155Z,1754689028.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.500000 m,
      deltaT: 0.505153 s,
      deltaX: -0.100000 m,
      approachRate: -0.197960 m/s,
      rangeRepo size: 4

2025-08-08T21:37:08.165Z,1754689028.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.500000 m,
      bearing: 212.504767 deg,
      lat: 36.906033 deg,
      lon: -122.115846 deg,
      deltaT: 0.505153 s,
      deltaX: -0.100000 m,
      approachRate: -0.197960 m/s,
      posRepo size: 4

2025-08-08T21:37:08.231Z,1754689028.231 [DAT](INFO): DAT read: Rx Time:21:37:07.6330 

2025-08-08T21:37:08.231Z,1754689028.231 [DAT](INFO): Rx dataTimestamp_ set to:1754689028.230701
2025-08-08T21:37:08.240Z,1754689028.240 [DAT](INFO): DAT read: Bearing 339.3,  17.1 (Local)

2025-08-08T21:37:08.240Z,1754689028.240 [DAT](INFO): Local bearing/azimuth received:
 Bearing 339.3,  17.1 (Local)

2025-08-08T21:37:08.243Z,1754689028.243 [DAT](INFO): DAT read: Range 11 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-08-08T21:37:08.250Z,1754689028.250 [DAT](INFO): DAT read: 21:37:07.6330 LVL= 19760, 16881, 29298, 31219, AGC= 32, IDX= 502, 0.08,-1.629,-0.900,-2.277,-0.620, PHS=-0.907,-0.235,-1.701, RAW=   2.8,  38.3, CAL=   1.1,  43.6, ROT= 148.9, -43.6

2025-08-08T21:37:08.251Z,1754689028.251 [DAT](INFO): got valid direction response:
 21:37:07.6330 LVL= 19760, 16881, 29298, 31219, AGC= 32, IDX= 502, 0.08,-1.629,-0.900,-2.277,-0.620, PHS=-0.907,-0.235,-1.701, RAW=   2.8,  38.3, CAL=   1.1,  43.6, ROT= 148.9, -43.6

2025-08-08T21:37:08.252Z,1754689028.252 [DAT](INFO): #Rx 29: Read range and direction messages.
2025-08-08T21:37:08.261Z,1754689028.261 [DAT](INFO): direction in FSK: [-0.620085,0.374059,0.689620]
2025-08-08T21:37:08.261Z,1754689028.261 [DAT](INFO): publishing direction and range info
2025-08-08T21:37:08.277Z,1754689028.277 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=16.686962
2025-08-08T21:37:08.481Z,1754689028.481 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=16.890842
2025-08-08T21:37:08.643Z,1754689028.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.500000 m,
      deltaT: 0.504068 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-08T21:37:08.649Z,1754689028.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.500000 m,
      bearing: 213.226025 deg,
      lat: 36.906033 deg,
      lon: -122.115846 deg,
      deltaT: 0.504068 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-08T21:37:08.733Z,1754689028.733 [DAT](INFO): DAT read: Rx Time:21:37:08.1329 

2025-08-08T21:37:08.734Z,1754689028.734 [DAT](INFO): Rx dataTimestamp_ set to:1754689028.733649
2025-08-08T21:37:08.735Z,1754689028.735 [DAT](INFO): DAT read: Bearing 333.3,  18.7 (Local)

2025-08-08T21:37:08.736Z,1754689028.736 [DAT](INFO): Local bearing/azimuth received:
 Bearing 333.3,  18.7 (Local)

2025-08-08T21:37:08.738Z,1754689028.738 [DAT](INFO): DAT read: Range 11 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2025-08-08T21:37:08.742Z,1754689028.742 [DAT](INFO): DAT read: 21:37:08.1329 LVL= 19856, 17185, 29250, 31411, AGC= 32, IDX= 501, 0.18,-2.137,-1.593,-2.790,-1.147, PHS=-0.888,-0.401,-1.687, RAW=   8.0,  43.1, CAL=   6.5,  48.0, ROT= 143.5, -48.0

2025-08-08T21:37:08.743Z,1754689028.743 [DAT](INFO): got valid direction response:
 21:37:08.1329 LVL= 19856, 17185, 29250, 31411, AGC= 32, IDX= 501, 0.18,-2.137,-1.593,-2.790,-1.147, PHS=-0.888,-0.401,-1.687, RAW=   8.0,  43.1, CAL=   6.5,  48.0, ROT= 143.5, -48.0

2025-08-08T21:37:08.744Z,1754689028.744 [DAT](INFO): #Rx 30: Read range and direction messages.
2025-08-08T21:37:08.745Z,1754689028.745 [DAT](INFO): direction in FSK: [-0.537885,0.398014,0.743145]
2025-08-08T21:37:08.745Z,1754689028.745 [DAT](INFO): publishing direction and range info
2025-08-08T21:37:08.754Z,1754689028.754 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=17.163589
2025-08-08T21:37:08.988Z,1754689028.988 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=17.396976
2025-08-08T21:37:09.140Z,1754689029.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.300000 m,
      deltaT: 0.502948 s,
      deltaX: -0.200000 m,
      approachRate: -0.397655 m/s,
      rangeRepo size: 4

2025-08-08T21:37:09.142Z,1754689029.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.300000 m,
      bearing: 203.040719 deg,
      lat: 36.906033 deg,
      lon: -122.115845 deg,
      deltaT: 0.502948 s,
      deltaX: -0.200000 m,
      approachRate: -0.397655 m/s,
      posRepo size: 4

2025-08-08T21:37:09.239Z,1754689029.239 [DAT](INFO): DAT read: Rx Time:21:37:08.6330 

2025-08-08T21:37:09.240Z,1754689029.240 [DAT](INFO): Rx dataTimestamp_ set to:1754689029.238956
2025-08-08T21:37:09.243Z,1754689029.243 [DAT](INFO): DAT read: Bearing 334.0,  18.9 (Local)

2025-08-08T21:37:09.243Z,1754689029.243 [DAT](INFO): Local bearing/azimuth received:
 Bearing 334.0,  18.9 (Local)

2025-08-08T21:37:09.246Z,1754689029.246 [DAT](INFO): DAT read: Range 11 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-08-08T21:37:09.251Z,1754689029.251 [DAT](INFO): DAT read: 21:37:08.6330 LVL= 19856, 16561, 28866, 31027, AGC= 32, IDX= 502, 0.32,-1.643,-1.073,-2.309,-0.648, PHS=-0.893,-0.380,-1.705, RAW=   7.4,  42.3, CAL=   5.9,  47.3, ROT= 144.1, -47.3

2025-08-08T21:37:09.252Z,1754689029.252 [DAT](INFO): got valid direction response:
 21:37:08.6330 LVL= 19856, 16561, 28866, 31027, AGC= 32, IDX= 502, 0.32,-1.643,-1.073,-2.309,-0.648, PHS=-0.893,-0.380,-1.705, RAW=   7.4,  42.3, CAL=   5.9,  47.3, ROT= 144.1, -47.3

2025-08-08T21:37:09.253Z,1754689029.253 [DAT](INFO): #Rx 31: Read range and direction messages.
2025-08-08T21:37:09.254Z,1754689029.254 [DAT](INFO): direction in FSK: [-0.549338,0.397654,0.734915]
2025-08-08T21:37:09.254Z,1754689029.254 [DAT](INFO): publishing direction and range info
2025-08-08T21:37:09.257Z,1754689029.257 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=17.667395
2025-08-08T21:37:09.489Z,1754689029.489 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=17.898642
2025-08-08T21:37:09.511Z,1754689029.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.500000 m,
      deltaT: 0.505307 s,
      deltaX: 0.200000 m,
      approachRate: 0.395799 m/s,
      rangeRepo size: 4

2025-08-08T21:37:09.513Z,1754689029.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.500000 m,
      bearing: 195.151901 deg,
      lat: 36.906033 deg,
      lon: -122.115844 deg,
      deltaT: 0.505307 s,
      deltaX: 0.200000 m,
      approachRate: 0.395799 m/s,
      posRepo size: 4

2025-08-08T21:37:09.741Z,1754689029.741 [DAT](INFO): DAT read: Rx Time:21:37:09.1329 

2025-08-08T21:37:09.742Z,1754689029.742 [DAT](INFO): Rx dataTimestamp_ set to:1754689029.741565
2025-08-08T21:37:09.743Z,1754689029.743 [DAT](INFO): DAT read: Bearing 335.9,  18.8 (Local)

2025-08-08T21:37:09.743Z,1754689029.743 [DAT](INFO): Local bearing/azimuth received:
 Bearing 335.9,  18.8 (Local)

2025-08-08T21:37:09.746Z,1754689029.746 [DAT](INFO): DAT read: Range 11 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2025-08-08T21:37:09.750Z,1754689029.750 [DAT](INFO): DAT read: 21:37:09.1329 LVL= 22368, 18225, 29602, 31283, AGC= 33, IDX= 501, 0.46,-2.879,-2.246, 2.738,-1.879, PHS=-0.899,-0.322,-1.711, RAW=   5.6,  40.6, CAL=   4.0,  45.7, ROT= 146.0, -45.7

2025-08-08T21:37:09.751Z,1754689029.751 [DAT](INFO): got valid direction response:
 21:37:09.1329 LVL= 22368, 18225, 29602, 31283, AGC= 33, IDX= 501, 0.46,-2.879,-2.246, 2.738,-1.879, PHS=-0.899,-0.322,-1.711, RAW=   5.6,  40.6, CAL=   4.0,  45.7, ROT= 146.0, -45.7

2025-08-08T21:37:09.752Z,1754689029.752 [DAT](INFO): #Rx 32: Read range and direction messages.
2025-08-08T21:37:09.753Z,1754689029.753 [DAT](INFO): direction in FSK: [-0.579013,0.390549,0.715693]
2025-08-08T21:37:09.753Z,1754689029.753 [DAT](INFO): publishing direction and range info
2025-08-08T21:37:09.779Z,1754689029.779 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=18.189331
2025-08-08T21:37:09.932Z,1754689029.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.300000 m,
      deltaT: 0.502609 s,
      deltaX: -0.200000 m,
      approachRate: -0.397924 m/s,
      rangeRepo size: 4

2025-08-08T21:37:09.938Z,1754689029.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.300000 m,
      bearing: 191.638082 deg,
      lat: 36.906033 deg,
      lon: -122.115844 deg,
      deltaT: 0.502609 s,
      deltaX: -0.200000 m,
      approachRate: -0.397924 m/s,
      posRepo size: 4

2025-08-08T21:37:09.996Z,1754689029.996 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=18.405197
2025-08-08T21:37:10.245Z,1754689030.245 [DAT](INFO): DAT read: Rx Time:21:37:09.6331 

2025-08-08T21:37:10.246Z,1754689030.246 [DAT](INFO): Rx dataTimestamp_ set to:1754689030.245533
2025-08-08T21:37:10.247Z,1754689030.247 [DAT](INFO): DAT read: Bearing 333.3,  19.2 (Local)

2025-08-08T21:37:10.247Z,1754689030.247 [DAT](INFO): Local bearing/azimuth received:
 Bearing 333.3,  19.2 (Local)

2025-08-08T21:37:10.250Z,1754689030.250 [DAT](INFO): DAT read: Range 11 to 50 :     0.6 m (trip time 0.4 ms) speed 0.0

2025-08-08T21:37:10.256Z,1754689030.256 [DAT](INFO): DAT read: 21:37:09.6331 LVL= 22768, 17697, 31442, 32755, AGC= 33, IDX= 503,-0.41,-2.435,-1.860,-3.100,-1.425, PHS=-0.908,-0.390,-1.719, RAW=   7.3,  42.6, CAL=   5.8,  47.5, ROT= 144.2, -47.5

2025-08-08T21:37:10.258Z,1754689030.258 [DAT](INFO): got valid direction response:
 21:37:09.6331 LVL= 22768, 17697, 31442, 32755, AGC= 33, IDX= 503,-0.41,-2.435,-1.860,-3.100,-1.425, PHS=-0.908,-0.390,-1.719, RAW=   7.3,  42.6, CAL=   5.8,  47.5, ROT= 144.2, -47.5

2025-08-08T21:37:10.258Z,1754689030.258 [DAT](INFO): #Rx 33: Read range and direction messages.
2025-08-08T21:37:10.264Z,1754689030.264 [DAT](INFO): direction in FSK: [-0.547947,0.395192,0.737277]
2025-08-08T21:37:10.264Z,1754689030.264 [DAT](INFO): publishing direction and range info
2025-08-08T21:37:10.298Z,1754689030.298 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=18.707651
2025-08-08T21:37:10.497Z,1754689030.497 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=18.906893
2025-08-08T21:37:10.529Z,1754689030.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.600000 m,
      deltaT: 0.503968 s,
      deltaX: 0.300000 m,
      approachRate: 0.595276 m/s,
      rangeRepo size: 4

2025-08-08T21:37:10.531Z,1754689030.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.600000 m,
      bearing: 184.967667 deg,
      lat: 36.906033 deg,
      lon: -122.115844 deg,
      deltaT: 0.503968 s,
      deltaX: 0.300000 m,
      approachRate: 0.595276 m/s,
      posRepo size: 4

2025-08-08T21:37:10.749Z,1754689030.749 [DAT](INFO): DAT read: Rx Time:21:37:10.1330 

2025-08-08T21:37:10.750Z,1754689030.750 [DAT](INFO): Rx dataTimestamp_ set to:1754689030.749618
2025-08-08T21:37:10.751Z,1754689030.751 [DAT](INFO): DAT read: Bearing 334.3,  18.9 (Local)

2025-08-08T21:37:10.751Z,1754689030.751 [DAT](INFO): Local bearing/azimuth received:
 Bearing 334.3,  18.9 (Local)

2025-08-08T21:37:10.754Z,1754689030.754 [DAT](INFO): DAT read: Range 11 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-08-08T21:37:10.758Z,1754689030.758 [DAT](INFO): DAT read: 21:37:10.1330 LVL= 23024, 17969, 29538, 31843, AGC= 33, IDX= 502,-0.31,-2.985,-2.364, 2.656,-1.970, PHS=-0.913,-0.349,-1.701, RAW=   5.5,  41.7, CAL=   4.0,  46.7, ROT= 146.0, -46.7

2025-08-08T21:37:10.759Z,1754689030.759 [DAT](INFO): got valid direction response:
 21:37:10.1330 LVL= 23024, 17969, 29538, 31843, AGC= 33, IDX= 502,-0.31,-2.985,-2.364, 2.656,-1.970, PHS=-0.913,-0.349,-1.701, RAW=   5.5,  41.7, CAL=   4.0,  46.7, ROT= 146.0, -46.7

2025-08-08T21:37:10.760Z,1754689030.760 [DAT](INFO): #Rx 34: Read range and direction messages.
2025-08-08T21:37:10.761Z,1754689030.761 [DAT](INFO): direction in FSK: [-0.568569,0.383505,0.727773]
2025-08-08T21:37:10.761Z,1754689030.761 [DAT](INFO): publishing direction and range info
2025-08-08T21:37:10.765Z,1754689030.765 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=19.174623
2025-08-08T21:37:10.930Z,1754689030.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.500000 m,
      deltaT: 0.504085 s,
      deltaX: -0.100000 m,
      approachRate: -0.198379 m/s,
      rangeRepo size: 4

2025-08-08T21:37:10.936Z,1754689030.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.500000 m,
      bearing: 180.517542 deg,
      lat: 36.906033 deg,
      lon: -122.115844 deg,
      deltaT: 0.504085 s,
      deltaX: -0.100000 m,
      approachRate: -0.198379 m/s,
      posRepo size: 4

2025-08-08T21:37:11.005Z,1754689031.005 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=19.413565
2025-08-08T21:37:11.255Z,1754689031.255 [DAT](INFO): DAT read: Rx Time:21:37:10.6331 

2025-08-08T21:37:11.255Z,1754689031.255 [DAT](INFO): Rx dataTimestamp_ set to:1754689031.254938
2025-08-08T21:37:11.257Z,1754689031.257 [DAT](INFO): DAT read: Bearing 342.8,  16.9 (Local)

2025-08-08T21:37:11.258Z,1754689031.258 [DAT](INFO): Local bearing/azimuth received:
 Bearing 342.8,  16.9 (Local)

2025-08-08T21:37:11.260Z,1754689031.260 [DAT](INFO): DAT read: Range 11 to 50 :     0.6 m (trip time 0.4 ms) speed 0.0

2025-08-08T21:37:11.282Z,1754689031.282 [DAT](INFO): DAT read: 21:37:10.6331 LVL= 26288, 20977, 29586, 31891, AGC= 34, IDX= 503,-0.22,-1.866,-0.957,-2.484,-0.832, PHS=-0.932,-0.080,-1.696, RAW= 358.2,  34.4, CAL= 356.5,  39.8, ROT= 153.5, -39.8

2025-08-08T21:37:11.283Z,1754689031.283 [DAT](INFO): got valid direction response:
 21:37:10.6331 LVL= 26288, 20977, 29586, 31891, AGC= 34, IDX= 503,-0.22,-1.866,-0.957,-2.484,-0.832, PHS=-0.932,-0.080,-1.696, RAW= 358.2,  34.4, CAL= 356.5,  39.8, ROT= 153.5, -39.8

2025-08-08T21:37:11.284Z,1754689031.284 [DAT](INFO): #Rx 35: Read range and direction messages.
2025-08-08T21:37:11.286Z,1754689031.286 [DAT](INFO): direction in FSK: [-0.687563,0.342806,0.640110]
2025-08-08T21:37:11.286Z,1754689031.286 [DAT](INFO): publishing direction and range info
2025-08-08T21:37:11.315Z,1754689031.315 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=19.724663
2025-08-08T21:37:11.464Z,1754689031.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.600000 m,
      deltaT: 0.505320 s,
      deltaX: 0.100000 m,
      approachRate: 0.197894 m/s,
      rangeRepo size: 4

2025-08-08T21:37:11.466Z,1754689031.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.600000 m,
      bearing: 184.124820 deg,
      lat: 36.906032 deg,
      lon: -122.115845 deg,
      deltaT: 0.505320 s,
      deltaX: 0.100000 m,
      approachRate: 0.197894 m/s,
      posRepo size: 4

2025-08-08T21:37:11.505Z,1754689031.505 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=19.914976
2025-08-08T21:37:11.757Z,1754689031.757 [DAT](INFO): DAT read: Rx Time:21:37:11.1330 

2025-08-08T21:37:11.758Z,1754689031.758 [DAT](INFO): Rx dataTimestamp_ set to:1754689031.757437
2025-08-08T21:37:11.759Z,1754689031.759 [DAT](INFO): DAT read: Bearing 330.6,  18.4 (Local)

2025-08-08T21:37:11.759Z,1754689031.759 [DAT](INFO): Local bearing/azimuth received:
 Bearing 330.6,  18.4 (Local)

2025-08-08T21:37:11.761Z,1754689031.761 [DAT](INFO): DAT read: Range 11 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-08-08T21:37:11.766Z,1754689031.766 [DAT](INFO): DAT read: 21:37:11.1330 LVL= 24960, 18737, 30194, 32755, AGC= 33, IDX= 502,-0.18,-2.390,-1.834,-2.972,-1.363, PHS=-0.925,-0.427,-1.654, RAW=   6.2,  44.8, CAL=   4.8,  49.5, ROT= 145.2, -49.5

2025-08-08T21:37:11.767Z,1754689031.767 [DAT](INFO): got valid direction response:
 21:37:11.1330 LVL= 24960, 18737, 30194, 32755, AGC= 33, IDX= 502,-0.18,-2.390,-1.834,-2.972,-1.363, PHS=-0.925,-0.427,-1.654, RAW=   6.2,  44.8, CAL=   4.8,  49.5, ROT= 145.2, -49.5

2025-08-08T21:37:11.767Z,1754689031.767 [DAT](INFO): #Rx 36: Read range and direction messages.
2025-08-08T21:37:11.768Z,1754689031.768 [DAT](INFO): direction in FSK: [-0.533294,0.370649,0.760406]
2025-08-08T21:37:11.769Z,1754689031.769 [DAT](INFO): publishing direction and range info
2025-08-08T21:37:11.772Z,1754689031.772 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=20.182041
2025-08-08T21:37:11.855Z,1754689031.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.500000 m,
      deltaT: 0.502499 s,
      deltaX: -0.100000 m,
      approachRate: -0.199005 m/s,
      rangeRepo size: 4

2025-08-08T21:37:11.863Z,1754689031.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.500000 m,
      bearing: 181.881828 deg,
      lat: 36.906032 deg,
      lon: -122.115845 deg,
      deltaT: 0.502499 s,
      deltaX: -0.100000 m,
      approachRate: -0.199005 m/s,
      posRepo size: 4

2025-08-08T21:37:12.013Z,1754689032.013 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=20.422062
2025-08-08T21:37:12.261Z,1754689032.261 [DAT](INFO): DAT read: Rx Time:21:37:11.6330 

2025-08-08T21:37:12.262Z,1754689032.262 [DAT](INFO): Rx dataTimestamp_ set to:1754689032.261670
2025-08-08T21:37:12.263Z,1754689032.263 [DAT](INFO): DAT read: Bearing 335.9,  15.9

2025-08-08T21:37:12.263Z,1754689032.263 [DAT](INFO): unknown deviceResponse_: Bearing 335.9,  15.9

2025-08-08T21:37:12.265Z,1754689032.265 [DAT](INFO): DAT read: Range 11 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-08-08T21:37:12.274Z,1754689032.274 [DAT](INFO): DAT read: 21:37:11.6330 LVL= 26992, 19601, 31138, 32755, AGC= 34, IDX= 502,-0.11,-1.740,-0.998,-2.252,-0.684, PHS=-0.954,-0.269,-1.613, RAW= 359.3,  40.8, CAL= 357.8,  45.7, ROT= 152.2, -45.7

2025-08-08T21:37:12.275Z,1754689032.275 [DAT](INFO): got valid direction response:
 21:37:11.6330 LVL= 26992, 19601, 31138, 32755, AGC= 34, IDX= 502,-0.11,-1.740,-0.998,-2.252,-0.684, PHS=-0.954,-0.269,-1.613, RAW= 359.3,  40.8, CAL= 357.8,  45.7, ROT= 152.2, -45.7

2025-08-08T21:37:12.275Z,1754689032.275 [DAT](INFO): #Rx 37: Read range and direction messages.
2025-08-08T21:37:12.277Z,1754689032.277 [DAT](INFO): direction in FSK: [-0.617805,0.325732,0.715693]
2025-08-08T21:37:12.277Z,1754689032.277 [DAT](INFO): publishing direction and range info
2025-08-08T21:37:12.281Z,1754689032.281 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=20.690779
2025-08-08T21:37:12.293Z,1754689032.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.500000 m,
      deltaT: 0.504233 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-08T21:37:12.311Z,1754689032.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.500000 m,
      bearing: 183.650011 deg,
      lat: 36.906032 deg,
      lon: -122.115846 deg,
      deltaT: 0.504233 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-08T21:37:12.513Z,1754689032.513 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=20.922888
2025-08-08T21:37:12.669Z,1754689032.669 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-08T21:37:12.765Z,1754689032.765 [DAT](INFO): DAT read: Rx Time:21:37:12.1329 

2025-08-08T21:37:12.766Z,1754689032.766 [DAT](INFO): Rx dataTimestamp_ set to:1754689032.765527
2025-08-08T21:37:12.767Z,1754689032.767 [DAT](INFO): DAT read: Bearing 343.1,  12.2 (Local)

2025-08-08T21:37:12.767Z,1754689032.767 [DAT](INFO): Local bearing/azimuth received:
 Bearing 343.1,  12.2 (Local)

2025-08-08T21:37:12.769Z,1754689032.769 [DAT](INFO): DAT read: Range 11 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2025-08-08T21:37:12.774Z,1754689032.774 [DAT](INFO): DAT read: 21:37:12.1329 LVL= 29920, 22481, 31074, 32755, AGC= 35, IDX= 501,-0.04,-2.403,-1.374,-2.828,-1.290, PHS=-1.011,-0.039,-1.582, RAW= 351.5,  34.6, CAL= 349.9,  39.8, ROT= 160.1, -39.8

2025-08-08T21:37:12.775Z,1754689032.775 [DAT](INFO): got valid direction response:
 21:37:12.1329 LVL= 29920, 22481, 31074, 32755, AGC= 35, IDX= 501,-0.04,-2.403,-1.374,-2.828,-1.290, PHS=-1.011,-0.039,-1.582, RAW= 351.5,  34.6, CAL= 349.9,  39.8, ROT= 160.1, -39.8

2025-08-08T21:37:12.775Z,1754689032.775 [DAT](INFO): #Rx 38: Read range and direction messages.
2025-08-08T21:37:12.776Z,1754689032.776 [DAT](INFO): direction in FSK: [-0.722408,0.261508,0.640110]
2025-08-08T21:37:12.777Z,1754689032.777 [DAT](INFO): publishing direction and range info
2025-08-08T21:37:12.780Z,1754689032.780 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=21.190199
2025-08-08T21:37:13.021Z,1754689033.021 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=21.430309
2025-08-08T21:37:13.194Z,1754689033.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.300000 m,
      deltaT: 0.503857 s,
      deltaX: -0.200000 m,
      approachRate: -0.396938 m/s,
      rangeRepo size: 4

2025-08-08T21:37:13.200Z,1754689033.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.300000 m,
      bearing: 179.024643 deg,
      lat: 36.906032 deg,
      lon: -122.115847 deg,
      deltaT: 0.503857 s,
      deltaX: -0.200000 m,
      approachRate: -0.396938 m/s,
      posRepo size: 4

2025-08-08T21:37:13.270Z,1754689033.270 [DAT](INFO): DAT read: Rx Time:21:37:12.6330 

2025-08-08T21:37:13.271Z,1754689033.271 [DAT](INFO): Rx dataTimestamp_ set to:1754689033.270627
2025-08-08T21:37:13.277Z,1754689033.277 [DAT](INFO): DAT read: Bearing 319.4,  11.4 (Local)

2025-08-08T21:37:13.279Z,1754689033.279 [DAT](INFO): Local bearing/azimuth received:
 Bearing 319.4,  11.4 (Local)

2025-08-08T21:37:13.285Z,1754689033.285 [DAT](INFO): DAT read: Range 11 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-08-08T21:37:13.306Z,1754689033.306 [DAT](INFO): DAT read: 21:37:12.6330 LVL= 30192, 23025, 30194, 32755, AGC= 34, IDX= 502, 0.03, 0.099, 0.532,-0.226, 1.277, PHS=-1.076,-0.699,-1.547, RAW=   3.7,  57.9, CAL=   2.7,  61.2, ROT= 147.3, -61.2

2025-08-08T21:37:13.326Z,1754689033.326 [DAT](INFO): got valid direction response:
 21:37:12.6330 LVL= 30192, 23025, 30194, 32755, AGC= 34, IDX= 502, 0.03, 0.099, 0.532,-0.226, 1.277, PHS=-1.076,-0.699,-1.547, RAW=   3.7,  57.9, CAL=   2.7,  61.2, ROT= 147.3, -61.2

2025-08-08T21:37:13.326Z,1754689033.326 [DAT](INFO): #Rx 39: Read range and direction messages.
2025-08-08T21:37:13.327Z,1754689033.327 [DAT](INFO): direction in FSK: [-0.405401,0.260263,0.876307]
2025-08-08T21:37:13.327Z,1754689033.327 [DAT](INFO): publishing direction and range info
2025-08-08T21:37:13.343Z,1754689033.343 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=21.753082
2025-08-08T21:37:13.521Z,1754689033.521 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=21.931004
2025-08-08T21:37:13.710Z,1754689033.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.500000 m,
      deltaT: 0.505100 s,
      deltaX: 0.200000 m,
      approachRate: 0.395961 m/s,
      rangeRepo size: 4

2025-08-08T21:37:13.712Z,1754689033.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.500000 m,
      bearing: 172.665668 deg,
      lat: 36.906032 deg,
      lon: -122.115847 deg,
      deltaT: 0.505100 s,
      deltaX: 0.200000 m,
      approachRate: 0.395961 m/s,
      posRepo size: 4

2025-08-08T21:37:13.774Z,1754689033.774 [DAT](INFO): DAT read: Rx Time:21:37:13.1330 

2025-08-08T21:37:13.774Z,1754689033.774 [DAT](INFO): Rx dataTimestamp_ set to:1754689033.773941
2025-08-08T21:37:13.775Z,1754689033.775 [DAT](INFO): DAT read: Bearing 327.6,   7.5 (Local)

2025-08-08T21:37:13.776Z,1754689033.776 [DAT](INFO): Local bearing/azimuth received:
 Bearing 327.6,   7.5 (Local)

2025-08-08T21:37:13.778Z,1754689033.778 [DAT](INFO): DAT read: Range 11 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-08-08T21:37:13.783Z,1754689033.783 [DAT](INFO): DAT read: 21:37:13.1330 LVL= 32752, 23745, 32754, 32755, AGC= 35, IDX= 501, 0.11,-0.437, 0.272,-0.666, 0.819, PHS=-1.154,-0.502,-1.529, RAW= 351.1,  51.4, CAL= 350.0,  55.0, ROT= 160.0, -55.0

2025-08-08T21:37:13.784Z,1754689033.784 [DAT](INFO): got valid direction response:
 21:37:13.1330 LVL= 32752, 23745, 32754, 32755, AGC= 35, IDX= 501, 0.11,-0.437, 0.272,-0.666, 0.819, PHS=-1.154,-0.502,-1.529, RAW= 351.1,  51.4, CAL= 350.0,  55.0, ROT= 160.0, -55.0

2025-08-08T21:37:13.784Z,1754689033.784 [DAT](INFO): #Rx 40: Read range and direction messages.
2025-08-08T21:37:13.785Z,1754689033.785 [DAT](INFO): direction in FSK: [-0.538986,0.196175,0.819152]
2025-08-08T21:37:13.786Z,1754689033.786 [DAT](INFO): publishing direction and range info
2025-08-08T21:37:13.789Z,1754689033.789 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=22.199205
2025-08-08T21:37:14.027Z,1754689034.027 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=22.437191
2025-08-08T21:37:14.211Z,1754689034.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.500000 m,
      deltaT: 0.503314 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-08T21:37:14.213Z,1754689034.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.500000 m,
      bearing: 185.075475 deg,
      lat: 36.906032 deg,
      lon: -122.115848 deg,
      deltaT: 0.503314 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-08T21:37:14.278Z,1754689034.278 [DAT](INFO): DAT read: Rx Time:21:37:13.6331 

2025-08-08T21:37:14.278Z,1754689034.278 [DAT](INFO): Rx dataTimestamp_ set to:1754689034.277729
2025-08-08T21:37:14.279Z,1754689034.279 [DAT](INFO): DAT read: Bearing 335.2,   4.3 (Local)

2025-08-08T21:37:14.280Z,1754689034.280 [DAT](INFO): Local bearing/azimuth received:
 Bearing 335.2,   4.3 (Local)

2025-08-08T21:37:14.282Z,1754689034.282 [DAT](INFO): DAT read: Range 11 to 50 :     0.6 m (trip time 0.4 ms) speed 0.0

2025-08-08T21:37:14.286Z,1754689034.286 [DAT](INFO): DAT read: 21:37:13.6331 LVL= 32752, 24209, 32754, 32755, AGC= 35, IDX= 502, 0.20, 0.569, 1.558, 0.414, 1.885, PHS=-1.214,-0.282,-1.515, RAW= 343.5,  43.7, CAL= 342.4,  48.1, ROT= 167.6, -48.1

2025-08-08T21:37:14.288Z,1754689034.288 [DAT](INFO): got valid direction response:
 21:37:13.6331 LVL= 32752, 24209, 32754, 32755, AGC= 35, IDX= 502, 0.20, 0.569, 1.558, 0.414, 1.885, PHS=-1.214,-0.282,-1.515, RAW= 343.5,  43.7, CAL= 342.4,  48.1, ROT= 167.6, -48.1

2025-08-08T21:37:14.288Z,1754689034.288 [DAT](INFO): #Rx 41: Read range and direction messages.
2025-08-08T21:37:14.289Z,1754689034.289 [DAT](INFO): direction in FSK: [-0.652254,0.143407,0.744312]
2025-08-08T21:37:14.289Z,1754689034.289 [DAT](INFO): publishing direction and range info
2025-08-08T21:37:14.296Z,1754689034.296 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=22.705191
2025-08-08T21:37:14.529Z,1754689034.529 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=22.938881
2025-08-08T21:37:14.644Z,1754689034.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.600000 m,
      deltaT: 0.503788 s,
      deltaX: 0.100000 m,
      approachRate: 0.198496 m/s,
      rangeRepo size: 4

2025-08-08T21:37:14.646Z,1754689034.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.600000 m,
      bearing: 182.359928 deg,
      lat: 36.906032 deg,
      lon: -122.115848 deg,
      deltaT: 0.503788 s,
      deltaX: 0.100000 m,
      approachRate: 0.198496 m/s,
      posRepo size: 4

2025-08-08T21:37:14.781Z,1754689034.781 [DAT](INFO): DAT read: Rx Time:21:37:14.1330 

2025-08-08T21:37:14.782Z,1754689034.782 [DAT](INFO): Rx dataTimestamp_ set to:1754689034.781571
2025-08-08T21:37:14.783Z,1754689034.783 [DAT](INFO): DAT read: Bearing 320.7,   3.1 (Local)

2025-08-08T21:37:14.783Z,1754689034.783 [DAT](INFO): Local bearing/azimuth received:
 Bearing 320.7,   3.1 (Local)

2025-08-08T21:37:14.786Z,1754689034.786 [DAT](INFO): DAT read: Range 11 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-08-08T21:37:14.791Z,1754689034.791 [DAT](INFO): DAT read: 21:37:14.1330 LVL= 32752, 27633, 32754, 32755, AGC= 35, IDX= 501, 0.30,-0.021, 0.607,-0.116, 1.342, PHS=-1.260,-0.690,-1.502, RAW= 346.8,  59.4, CAL= 346.0,  62.3, ROT= 164.0, -62.3

2025-08-08T21:37:14.794Z,1754689034.794 [DAT](INFO): got valid direction response:
 21:37:14.1330 LVL= 32752, 27633, 32754, 32755, AGC= 35, IDX= 501, 0.30,-0.021, 0.607,-0.116, 1.342, PHS=-1.260,-0.690,-1.502, RAW= 346.8,  59.4, CAL= 346.0,  62.3, ROT= 164.0, -62.3

2025-08-08T21:37:14.795Z,1754689034.795 [DAT](INFO): #Rx 42: Read range and direction messages.
2025-08-08T21:37:14.797Z,1754689034.797 [DAT](INFO): direction in FSK: [-0.446835,0.128128,0.885394]
2025-08-08T21:37:14.798Z,1754689034.798 [DAT](INFO): publishing direction and range info
2025-08-08T21:37:14.829Z,1754689034.829 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=23.239071
2025-08-08T21:37:15.014Z,1754689035.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.500000 m,
      deltaT: 0.503842 s,
      deltaX: -0.100000 m,
      approachRate: -0.198475 m/s,
      rangeRepo size: 4

2025-08-08T21:37:15.020Z,1754689035.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.500000 m,
      bearing: 199.868638 deg,
      lat: 36.906033 deg,
      lon: -122.115849 deg,
      deltaT: 0.503842 s,
      deltaX: -0.100000 m,
      approachRate: -0.198475 m/s,
      posRepo size: 4

2025-08-08T21:37:15.033Z,1754689035.033 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=23.442949
2025-08-08T21:37:15.287Z,1754689035.287 [DAT](INFO): DAT read: Rx Time:21:37:14.6331 

2025-08-08T21:37:15.287Z,1754689035.287 [DAT](INFO): Rx dataTimestamp_ set to:1754689035.287198
2025-08-08T21:37:15.289Z,1754689035.289 [DAT](INFO): DAT read: Bearing 326.7,   1.6 (Local)

2025-08-08T21:37:15.289Z,1754689035.289 [DAT](INFO): Local bearing/azimuth received:
 Bearing 326.7,   1.6 (Local)

2025-08-08T21:37:15.293Z,1754689035.293 [DAT](INFO): DAT read: Range 11 to 50 :     0.6 m (trip time 0.4 ms) speed 0.0

2025-08-08T21:37:15.301Z,1754689035.301 [DAT](INFO): DAT read: 21:37:14.6331 LVL= 32752, 28097, 32754, 32755, AGC= 35, IDX= 502, 0.43, 1.093, 1.911, 1.027, 2.487, PHS=-1.292,-0.530,-1.504, RAW= 342.0,  53.0, CAL= 341.1,  56.5, ROT= 168.9, -56.5

2025-08-08T21:37:15.303Z,1754689035.303 [DAT](INFO): got valid direction response:
 21:37:14.6331 LVL= 32752, 28097, 32754, 32755, AGC= 35, IDX= 502, 0.43, 1.093, 1.911, 1.027, 2.487, PHS=-1.292,-0.530,-1.504, RAW= 342.0,  53.0, CAL= 341.1,  56.5, ROT= 168.9, -56.5

2025-08-08T21:37:15.303Z,1754689035.303 [DAT](INFO): #Rx 43: Read range and direction messages.
2025-08-08T21:37:15.311Z,1754689035.311 [DAT](INFO): direction in FSK: [-0.541612,0.106260,0.833886]
2025-08-08T21:37:15.331Z,1754689035.331 [DAT](INFO): publishing direction and range info
2025-08-08T21:37:15.357Z,1754689035.357 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=23.767056
2025-08-08T21:37:15.519Z,1754689035.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.600000 m,
      deltaT: 0.505627 s,
      deltaX: 0.100000 m,
      approachRate: 0.197774 m/s,
      rangeRepo size: 4

2025-08-08T21:37:15.525Z,1754689035.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.600000 m,
      bearing: 202.542937 deg,
      lat: 36.906032 deg,
      lon: -122.115849 deg,
      deltaT: 0.505627 s,
      deltaX: 0.100000 m,
      approachRate: 0.197774 m/s,
      posRepo size: 4

2025-08-08T21:37:15.537Z,1754689035.537 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=23.946943
2025-08-08T21:37:15.790Z,1754689035.790 [DAT](INFO): DAT read: Rx Time:21:37:15.1330 

2025-08-08T21:37:15.791Z,1754689035.791 [DAT](INFO): Rx dataTimestamp_ set to:1754689035.790680
2025-08-08T21:37:15.794Z,1754689035.794 [DAT](INFO): DAT read: Bearing 343.1,   0.3 (Local)

2025-08-08T21:37:15.795Z,1754689035.795 [DAT](INFO): Local bearing/azimuth received:
 Bearing 343.1,   0.3 (Local)

2025-08-08T21:37:15.799Z,1754689035.799 [DAT](INFO): DAT read: Range 11 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-08-08T21:37:15.809Z,1754689035.809 [DAT](INFO): DAT read: 21:37:15.1330 LVL= 32752, 28273, 32754, 32755, AGC= 35, IDX= 502,-0.37,-2.196,-0.834,-2.260,-0.792, PHS=-1.302, 0.003,-1.512, RAW= 337.3,  35.0, CAL= 336.2,  40.3, ROT= 173.8, -40.3

2025-08-08T21:37:15.812Z,1754689035.812 [DAT](INFO): got valid direction response:
 21:37:15.1330 LVL= 32752, 28273, 32754, 32755, AGC= 35, IDX= 502,-0.37,-2.196,-0.834,-2.260,-0.792, PHS=-1.302, 0.003,-1.512, RAW= 337.3,  35.0, CAL= 336.2,  40.3, ROT= 173.8, -40.3

2025-08-08T21:37:15.813Z,1754689035.813 [DAT](INFO): #Rx 44: Read range and direction messages.
2025-08-08T21:37:15.815Z,1754689035.815 [DAT](INFO): direction in FSK: [-0.758207,0.082368,0.646790]
2025-08-08T21:37:15.815Z,1754689035.815 [DAT](INFO): publishing direction and range info
2025-08-08T21:37:15.863Z,1754689035.863 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=24.272320
2025-08-08T21:37:15.961Z,1754689035.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.500000 m,
      deltaT: 0.503482 s,
      deltaX: -0.100000 m,
      approachRate: -0.198617 m/s,
      rangeRepo size: 4

2025-08-08T21:37:15.963Z,1754689035.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.500000 m,
      bearing: 210.964042 deg,
      lat: 36.906032 deg,
      lon: -122.115850 deg,
      deltaT: 0.503482 s,
      deltaX: -0.100000 m,
      approachRate: -0.198617 m/s,
      posRepo size: 4

2025-08-08T21:37:16.041Z,1754689036.041 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=24.451105
2025-08-08T21:37:16.133Z,1754689036.133 [RudderServo](ERROR): getPosition uart error serial timeout
2025-08-08T21:37:16.134Z,1754689036.134 [RudderServo](FAULT): Rudder uart error - getPosition..serial timeout
2025-08-08T21:37:16.134Z,1754689036.134 [RudderServo] Communications Fault, FailCount= 1
2025-08-08T21:37:16.134Z,1754689036.134 [RudderServo](ERROR): Communications Fault
2025-08-08T21:37:16.211Z,1754689036.211 [CBIT](ERROR): Communications Fault in component: RudderServo
2025-08-08T21:37:16.295Z,1754689036.295 [DAT](INFO): DAT read: Rx Time:21:37:15.6330 

2025-08-08T21:37:16.296Z,1754689036.296 [DAT](INFO): Rx dataTimestamp_ set to:1754689036.295198
2025-08-08T21:37:16.298Z,1754689036.298 [DAT](INFO): DAT read: Bearing 341.8,   0.5 (Local)

2025-08-08T21:37:16.299Z,1754689036.299 [DAT](INFO): Local bearing/azimuth received:
 Bearing 341.8,   0.5 (Local)

2025-08-08T21:37:16.302Z,1754689036.302 [DAT](INFO): DAT read: Range 11 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-08-08T21:37:16.318Z,1754689036.318 [DAT](INFO): DAT read: 21:37:15.6330 LVL= 32752, 28065, 32754, 32755, AGC= 35, IDX= 502,-0.23,-2.132,-0.816,-2.209,-0.720, PHS=-1.309,-0.050,-1.532, RAW= 338.0,  36.5, CAL= 336.9,  41.6, ROT= 173.1, -41.6

2025-08-08T21:37:16.319Z,1754689036.319 [DAT](INFO): got valid direction response:
 21:37:15.6330 LVL= 32752, 28065, 32754, 32755, AGC= 35, IDX= 502,-0.23,-2.132,-0.816,-2.209,-0.720, PHS=-1.309,-0.050,-1.532, RAW= 338.0,  36.5, CAL= 336.9,  41.6, ROT= 173.1, -41.6

2025-08-08T21:37:16.320Z,1754689036.320 [DAT](INFO): #Rx 45: Read range and direction messages.
2025-08-08T21:37:16.322Z,1754689036.322 [DAT](INFO): direction in FSK: [-0.742382,0.089838,0.663926]
2025-08-08T21:37:16.322Z,1754689036.322 [DAT](INFO): publishing direction and range info
2025-08-08T21:37:16.335Z,1754689036.335 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=24.745045
2025-08-08T21:37:16.446Z,1754689036.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.500000 m,
      deltaT: 0.504518 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-08T21:37:16.453Z,1754689036.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.500000 m,
      bearing: 214.154914 deg,
      lat: 36.906032 deg,
      lon: -122.115850 deg,
      deltaT: 0.504518 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-08T21:37:16.545Z,1754689036.545 [RudderServo](DEBUG): Uninitialize Rudder Servo.
2025-08-08T21:37:16.545Z,1754689036.545 [RudderServo](INFO): Powering down
2025-08-08T21:37:16.553Z,1754689036.553 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=24.962942
2025-08-08T21:37:16.708Z,1754689036.708 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-08T21:37:16.803Z,1754689036.803 [DAT](INFO): DAT read: Rx Time:21:37:16.1329 

2025-08-08T21:37:16.804Z,1754689036.804 [DAT](INFO): Rx dataTimestamp_ set to:1754689036.803686
2025-08-08T21:37:16.806Z,1754689036.806 [DAT](INFO): DAT read: Bearing 345.1,   1.2 (Local)

2025-08-08T21:37:16.807Z,1754689036.807 [DAT](INFO): Local bearing/azimuth received:
 Bearing 345.1,   1.2 (Local)

2025-08-08T21:37:16.810Z,1754689036.810 [DAT](INFO): DAT read: Range 11 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2025-08-08T21:37:16.819Z,1754689036.819 [DAT](INFO): DAT read: 21:37:16.1329 LVL= 32752, 27505, 32754, 32755, AGC= 35, IDX= 501,-0.08, 3.052,-1.803, 2.936,-1.839, PHS=-1.290, 0.082,-1.552, RAW= 338.6,  32.7, CAL= 337.6,  37.9, ROT= 172.4, -37.9

2025-08-08T21:37:16.821Z,1754689036.821 [DAT](INFO): got valid direction response:
 21:37:16.1329 LVL= 32752, 27505, 32754, 32755, AGC= 35, IDX= 501,-0.08, 3.052,-1.803, 2.936,-1.839, PHS=-1.290, 0.082,-1.552, RAW= 338.6,  32.7, CAL= 337.6,  37.9, ROT= 172.4, -37.9

2025-08-08T21:37:16.822Z,1754689036.822 [DAT](INFO): #Rx 46: Read range and direction messages.
2025-08-08T21:37:16.823Z,1754689036.823 [DAT](INFO): direction in FSK: [-0.782152,0.104361,0.614285]
2025-08-08T21:37:16.823Z,1754689036.823 [DAT](INFO): publishing direction and range info
2025-08-08T21:37:16.832Z,1754689036.832 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=25.241665
2025-08-08T21:37:17.056Z,1754689037.056 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=25.465046
2025-08-08T21:37:17.191Z,1754689037.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.300000 m,
      deltaT: 0.508488 s,
      deltaX: -0.200000 m,
      approachRate: -0.393323 m/s,
      rangeRepo size: 4

2025-08-08T21:37:17.194Z,1754689037.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.300000 m,
      bearing: 215.622303 deg,
      lat: 36.906032 deg,
      lon: -122.115850 deg,
      deltaT: 0.508488 s,
      deltaX: -0.200000 m,
      approachRate: -0.393323 m/s,
      posRepo size: 4

2025-08-08T21:37:17.262Z,1754689037.262 [RudderServo](DEBUG): Initializing EZServoServo.
2025-08-08T21:37:17.307Z,1754689037.307 [DAT](INFO): DAT read: Rx Time:21:37:16.6330 

2025-08-08T21:37:17.307Z,1754689037.307 [DAT](INFO): Rx dataTimestamp_ set to:1754689037.307135
2025-08-08T21:37:17.310Z,1754689037.310 [DAT](INFO): DAT read: Bearing 349.4,   2.6 (Local)

2025-08-08T21:37:17.311Z,1754689037.311 [DAT](INFO): Local bearing/azimuth received:
 Bearing 349.4,   2.6 (Local)

2025-08-08T21:37:17.321Z,1754689037.321 [DAT](INFO): DAT read: Range 11 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-08-08T21:37:17.326Z,1754689037.326 [DAT](INFO): DAT read: 21:37:16.6330 LVL= 32752, 26785, 32754, 32755, AGC= 35, IDX= 502, 0.04,-1.249, 0.288,-1.420, 0.091, PHS=-1.238, 0.243,-1.555, RAW= 339.5,  28.5, CAL= 338.8,  33.5, ROT= 171.2, -33.5

2025-08-08T21:37:17.327Z,1754689037.327 [DAT](INFO): got valid direction response:
 21:37:16.6330 LVL= 32752, 26785, 32754, 32755, AGC= 35, IDX= 502, 0.04,-1.249, 0.288,-1.420, 0.091, PHS=-1.238, 0.243,-1.555, RAW= 339.5,  28.5, CAL= 338.8,  33.5, ROT= 171.2, -33.5

2025-08-08T21:37:17.327Z,1754689037.327 [DAT](INFO): #Rx 47: Read range and direction messages.
2025-08-08T21:37:17.340Z,1754689037.340 [DAT](INFO): direction in FSK: [-0.824070,0.127573,0.551937]
2025-08-08T21:37:17.341Z,1754689037.341 [DAT](INFO): publishing direction and range info
2025-08-08T21:37:17.348Z,1754689037.348 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=25.758184
2025-08-08T21:37:17.377Z,1754689037.377 [RudderServo](DEBUG): Initializing RudderServo.
2025-08-08T21:37:17.443Z,1754689037.443 [CBIT](INFO): Clearing failed state for component RudderServo
2025-08-08T21:37:17.444Z,1754689037.444 [RudderServo] No Fault, FailCount= 1
2025-08-08T21:37:17.545Z,1754689037.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.500000 m,
      deltaT: 0.503449 s,
      deltaX: 0.200000 m,
      approachRate: 0.397260 m/s,
      rangeRepo size: 4

2025-08-08T21:37:17.547Z,1754689037.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.500000 m,
      bearing: 217.248902 deg,
      lat: 36.906032 deg,
      lon: -122.115850 deg,
      deltaT: 0.503449 s,
      deltaX: 0.200000 m,
      approachRate: 0.397260 m/s,
      posRepo size: 4

2025-08-08T21:37:17.557Z,1754689037.557 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=25.967010
2025-08-08T21:37:17.811Z,1754689037.811 [DAT](INFO): DAT read: Rx Time:21:37:17.1329 

2025-08-08T21:37:17.812Z,1754689037.812 [DAT](INFO): Rx dataTimestamp_ set to:1754689037.811162
2025-08-08T21:37:17.814Z,1754689037.814 [DAT](INFO): DAT read: Bearing 349.2,   4.4 (Local)

2025-08-08T21:37:17.815Z,1754689037.815 [DAT](INFO): Local bearing/azimuth received:
 Bearing 349.2,   4.4 (Local)

2025-08-08T21:37:17.819Z,1754689037.819 [DAT](INFO): DAT read: Range 11 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2025-08-08T21:37:17.825Z,1754689037.825 [DAT](INFO): DAT read: 21:37:17.1329 LVL= 32752, 23425, 32754, 32755, AGC= 34, IDX= 501, 0.21,-3.012,-1.537, 3.026,-1.724, PHS=-1.186, 0.232,-1.577, RAW= 341.9,  28.5, CAL= 341.1,  33.5, ROT= 168.9, -33.5

2025-08-08T21:37:17.826Z,1754689037.826 [DAT](INFO): got valid direction response:
 21:37:17.1329 LVL= 32752, 23425, 32754, 32755, AGC= 34, IDX= 501, 0.21,-3.012,-1.537, 3.026,-1.724, PHS=-1.186, 0.232,-1.577, RAW= 341.9,  28.5, CAL= 341.1,  33.5, ROT= 168.9, -33.5

2025-08-08T21:37:17.826Z,1754689037.826 [DAT](INFO): #Rx 48: Read range and direction messages.
2025-08-08T21:37:17.828Z,1754689037.828 [DAT](INFO): direction in FSK: [-0.818286,0.160541,0.551937]
2025-08-08T21:37:17.828Z,1754689037.828 [DAT](INFO): publishing direction and range info
2025-08-08T21:37:17.834Z,1754689037.834 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=26.243759
2025-08-08T21:37:17.943Z,1754689037.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.300000 m,
      deltaT: 0.504027 s,
      deltaX: -0.200000 m,
      approachRate: -0.396804 m/s,
      rangeRepo size: 4

2025-08-08T21:37:17.949Z,1754689037.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.300000 m,
      bearing: 218.883109 deg,
      lat: 36.906032 deg,
      lon: -122.115850 deg,
      deltaT: 0.504027 s,
      deltaX: -0.200000 m,
      approachRate: -0.396804 m/s,
      posRepo size: 4

2025-08-08T21:37:18.061Z,1754689038.061 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=26.470989
2025-08-08T21:37:18.315Z,1754689038.315 [DAT](INFO): DAT read: Rx Time:21:37:17.6330 

2025-08-08T21:37:18.321Z,1754689038.321 [DAT](INFO): Rx dataTimestamp_ set to:1754689038.315397
2025-08-08T21:37:18.323Z,1754689038.323 [DAT](INFO): DAT read: Bearing 356.3,   6.2 (Local)

2025-08-08T21:37:18.323Z,1754689038.323 [DAT](INFO): Local bearing/azimuth received:
 Bearing 356.3,   6.2 (Local)

2025-08-08T21:37:18.325Z,1754689038.325 [DAT](INFO): DAT read: Range 11 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-08-08T21:37:18.338Z,1754689038.338 [DAT](INFO): DAT read: 21:37:17.6330 LVL= 30048, 23681, 30690, 32755, AGC= 35, IDX= 502, 0.43,-2.324,-0.610,-2.648,-1.108, PHS=-1.114, 0.543,-1.584, RAW= 342.2,  21.5, CAL= 342.1,  26.2, ROT= 167.9, -26.2

2025-08-08T21:37:18.339Z,1754689038.339 [DAT](INFO): got valid direction response:
 21:37:17.6330 LVL= 30048, 23681, 30690, 32755, AGC= 35, IDX= 502, 0.43,-2.324,-0.610,-2.648,-1.108, PHS=-1.114, 0.543,-1.584, RAW= 342.2,  21.5, CAL= 342.1,  26.2, ROT= 167.9, -26.2

2025-08-08T21:37:18.339Z,1754689038.339 [DAT](INFO): #Rx 49: Read range and direction messages.
2025-08-08T21:37:18.345Z,1754689038.345 [DAT](INFO): direction in FSK: [-0.877324,0.188082,0.441506]
2025-08-08T21:37:18.345Z,1754689038.345 [DAT](INFO): publishing direction and range info
2025-08-08T21:37:18.357Z,1754689038.357 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=26.767179
2025-08-08T21:37:18.453Z,1754689038.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.500000 m,
      deltaT: 0.504235 s,
      deltaX: 0.200000 m,
      approachRate: 0.396640 m/s,
      rangeRepo size: 4

2025-08-08T21:37:18.455Z,1754689038.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.500000 m,
      bearing: 215.136098 deg,
      lat: 36.906032 deg,
      lon: -122.115849 deg,
      deltaT: 0.504235 s,
      deltaX: 0.200000 m,
      approachRate: 0.396640 m/s,
      posRepo size: 4

2025-08-08T21:37:18.565Z,1754689038.565 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=26.975130
2025-08-08T21:37:18.719Z,1754689038.719 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-08T21:37:18.819Z,1754689038.819 [DAT](INFO): DAT read: Rx Time:21:37:18.1325 

2025-08-08T21:37:18.820Z,1754689038.820 [DAT](INFO): Rx dataTimestamp_ set to:1754689038.819493
2025-08-08T21:37:18.821Z,1754689038.821 [DAT](INFO): DAT read: Bearing 350.5,   8.3 (Local)

2025-08-08T21:37:18.821Z,1754689038.821 [DAT](INFO): Local bearing/azimuth received:
 Bearing 350.5,   8.3 (Local)

2025-08-08T21:37:18.823Z,1754689038.823 [DAT](INFO): DAT read: Range 11 to 50 :     0.0 m (trip time 0.0 ms) speed 0.0

2025-08-08T21:37:18.824Z,1754689038.824 [DAT](INFO): unknown deviceResponse_: Range 11 to 50 :     0.0 m (trip time 0.0 ms) speed 0.0

2025-08-08T21:37:18.830Z,1754689038.830 [DAT](INFO): DAT read: 21:37:18.1325 LVL= 27712, 22385, 30706, 32755, AGC= 34, IDX= 502,-0.35, 0.735, 2.180, 0.330, 1.935, PHS=-1.098, 0.290,-1.649, RAW= 346.0,  26.7, CAL= 345.4,  31.6, ROT= 164.6, -31.6

2025-08-08T21:37:18.831Z,1754689038.831 [DAT](INFO): got valid direction response:
 21:37:18.1325 LVL= 27712, 22385, 30706, 32755, AGC= 34, IDX= 502,-0.35, 0.735, 2.180, 0.330, 1.935, PHS=-1.098, 0.290,-1.649, RAW= 346.0,  26.7, CAL= 345.4,  31.6, ROT= 164.6, -31.6

2025-08-08T21:37:18.864Z,1754689038.864 [DAT](INFO): #Rx 50: Read direction message, but no range.
2025-08-08T21:37:18.865Z,1754689038.865 [DAT](INFO): direction in FSK: [-0.821146,0.226181,0.523986]
2025-08-08T21:37:18.890Z,1754689038.890 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=27.299555
2025-08-08T21:37:19.069Z,1754689039.069 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=27.478741
2025-08-08T21:37:19.321Z,1754689039.321 [DAT](INFO): DAT read: Rx Time:21:37:18.6326 

2025-08-08T21:37:19.322Z,1754689039.322 [DAT](INFO): Rx dataTimestamp_ set to:1754689039.321560
2025-08-08T21:37:19.323Z,1754689039.323 [DAT](INFO): DAT read: Bearing 349.6,  10.3 (Local)

2025-08-08T21:37:19.323Z,1754689039.323 [DAT](INFO): Local bearing/azimuth received:
 Bearing 349.6,  10.3 (Local)

2025-08-08T21:37:19.326Z,1754689039.326 [DAT](INFO): DAT read: Range 11 to 50 :     0.0 m (trip time 0.0 ms) speed 0.0

2025-08-08T21:37:19.326Z,1754689039.326 [DAT](INFO): unknown deviceResponse_: Range 11 to 50 :     0.0 m (trip time 0.0 ms) speed 0.0

2025-08-08T21:37:19.330Z,1754689039.330 [DAT](INFO): DAT read: 21:37:18.6326 LVL= 29792, 22001, 32066, 32755, AGC= 34, IDX= 503,-0.22, 2.062,-2.863, 1.585,-3.071, PHS=-1.049, 0.253,-1.672, RAW= 348.5,  27.1, CAL= 347.8,  32.1, ROT= 162.2, -32.1

2025-08-08T21:37:19.331Z,1754689039.331 [DAT](INFO): got valid direction response:
 21:37:18.6326 LVL= 29792, 22001, 32066, 32755, AGC= 34, IDX= 503,-0.22, 2.062,-2.863, 1.585,-3.071, PHS=-1.049, 0.253,-1.672, RAW= 348.5,  27.1, CAL= 347.8,  32.1, ROT= 162.2, -32.1

2025-08-08T21:37:19.332Z,1754689039.332 [DAT](INFO): #Rx 51: Read direction message, but no range.
2025-08-08T21:37:19.333Z,1754689039.333 [DAT](INFO): direction in FSK: [-0.806570,0.258961,0.531399]
2025-08-08T21:37:19.336Z,1754689039.336 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=27.745970
2025-08-08T21:37:19.577Z,1754689039.577 [DAT](INFO): DAT read: Rx Time:21:37:19.1329 

2025-08-08T21:37:19.578Z,1754689039.578 [DAT](INFO): Rx dataTimestamp_ set to:1754689039.577300
2025-08-08T21:37:19.581Z,1754689039.581 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=27.990465
2025-08-08T21:37:19.826Z,1754689039.826 [DAT](INFO): DAT read: Bearing 348.7,  11.8 (Local)

2025-08-08T21:37:19.826Z,1754689039.826 [DAT](INFO): Local bearing/azimuth received:
 Bearing 348.7,  11.8 (Local)

2025-08-08T21:37:19.829Z,1754689039.829 [DAT](INFO): DAT read: Range 11 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2025-08-08T21:37:19.835Z,1754689039.835 [DAT](INFO): DAT read: 21:37:19.1329 LVL= 29632, 21489, 32754, 32755, AGC= 34, IDX= 502,-0.10, 0.931, 2.230, 0.397, 2.051, PHS=-1.017, 0.225,-1.698, RAW= 350.4,  27.5, CAL= 349.7,  32.5, ROT= 160.3, -32.5

2025-08-08T21:37:19.837Z,1754689039.837 [DAT](INFO): got valid direction response:
 21:37:19.1329 LVL= 29632, 21489, 32754, 32755, AGC= 34, IDX= 502,-0.10, 0.931, 2.230, 0.397, 2.051, PHS=-1.017, 0.225,-1.698, RAW= 350.4,  27.5, CAL= 349.7,  32.5, ROT= 160.3, -32.5

2025-08-08T21:37:19.838Z,1754689039.838 [DAT](INFO): #Rx 52: Read range and direction messages.
2025-08-08T21:37:19.839Z,1754689039.839 [DAT](INFO): direction in FSK: [-0.794028,0.284303,0.537300]
2025-08-08T21:37:19.839Z,1754689039.839 [DAT](INFO): publishing direction and range info
2025-08-08T21:37:19.845Z,1754689039.845 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=28.254700
2025-08-08T21:37:19.962Z,1754689039.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.300000 m,
      deltaT: 1.508893 s,
      deltaX: -0.200000 m,
      approachRate: -0.132547 m/s,
      rangeRepo size: 4

2025-08-08T21:37:19.968Z,1754689039.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.300000 m,
      bearing: 224.242502 deg,
      lat: 36.906033 deg,
      lon: -122.115849 deg,
      deltaT: 1.508893 s,
      deltaX: -0.200000 m,
      approachRate: -0.132547 m/s,
      posRepo size: 4

2025-08-08T21:37:20.080Z,1754689040.080 [DAT](INFO): DAT read: Rx Time:21:37:19.6329 

2025-08-08T21:37:20.082Z,1754689040.082 [DAT](INFO): Rx dataTimestamp_ set to:1754689040.080600
2025-08-08T21:37:20.085Z,1754689040.085 [DAT](INFO): DAT read: Bearing 349.9,  13.0 (Local)

2025-08-08T21:37:20.087Z,1754689040.087 [DAT](INFO): Local bearing/azimuth received:
 Bearing 349.9,  13.0 (Local)

2025-08-08T21:37:20.090Z,1754689040.090 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=28.499372
2025-08-08T21:37:20.330Z,1754689040.330 [DAT](INFO): DAT read: Range 11 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2025-08-08T21:37:20.335Z,1754689040.335 [DAT](INFO): DAT read: 21:37:19.6329 LVL= 26480, 19073, 30946, 32755, AGC= 33, IDX= 502, 0.01, 1.687, 2.979, 1.111, 2.752, PHS=-0.963, 0.271,-1.685, RAW= 351.4,  26.1, CAL= 350.8,  31.0, ROT= 159.2, -31.0

2025-08-08T21:37:20.336Z,1754689040.336 [DAT](INFO): got valid direction response:
 21:37:19.6329 LVL= 26480, 19073, 30946, 32755, AGC= 33, IDX= 502, 0.01, 1.687, 2.979, 1.111, 2.752, PHS=-0.963, 0.271,-1.685, RAW= 351.4,  26.1, CAL= 350.8,  31.0, ROT= 159.2, -31.0

2025-08-08T21:37:20.337Z,1754689040.337 [DAT](INFO): #Rx 53: Read range and direction messages.
2025-08-08T21:37:20.338Z,1754689040.338 [DAT](INFO): direction in FSK: [-0.801302,0.304386,0.515038]
2025-08-08T21:37:20.338Z,1754689040.338 [DAT](INFO): publishing direction and range info
2025-08-08T21:37:20.346Z,1754689040.346 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=28.755684
2025-08-08T21:37:20.456Z,1754689040.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.300000 m,
      deltaT: 0.504061 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-08T21:37:20.458Z,1754689040.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.300000 m,
      bearing: 220.542252 deg,
      lat: 36.906033 deg,
      lon: -122.115848 deg,
      deltaT: 0.504061 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-08T21:37:20.585Z,1754689040.585 [DAT](INFO): DAT read: Rx Time:21:37:20.1328 

2025-08-08T21:37:20.587Z,1754689040.587 [DAT](INFO): Rx dataTimestamp_ set to:1754689040.585958
2025-08-08T21:37:20.591Z,1754689040.591 [DAT](INFO): DAT read: Bearing 350.3,  13.8 (Local)

2025-08-08T21:37:20.592Z,1754689040.592 [DAT](INFO): Local bearing/azimuth received:
 Bearing 350.3,  13.8 (Local)

2025-08-08T21:37:20.596Z,1754689040.596 [DAT](INFO): DAT read: Range 11 to 50 :     0.2 m (trip time 0.1 ms) speed 0.0

2025-08-08T21:37:20.599Z,1754689040.599 [DAT](ERROR): #Rx 54: Read range message, but no direction.
2025-08-08T21:37:20.604Z,1754689040.604 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=29.013300
2025-08-08T21:37:20.779Z,1754689040.779 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-08T21:37:20.805Z,1754689040.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.200000 m,
      deltaT: 0.257607 s,
      deltaX: -0.100000 m,
      approachRate: -0.388188 m/s,
      rangeRepo size: 4

2025-08-08T21:37:20.839Z,1754689040.839 [DAT](INFO): DAT read: 21:37:20.1328 LVL= 24144, 19137, 32098, 32755, AGC= 33, IDX= 501, 0.14, 0.535, 1.821,-0.072, 1.578, PHS=-0.940, 0.289,-1.694, RAW= 352.1,  25.6, CAL= 351.6,  30.4, ROT= 158.4, -30.4

2025-08-08T21:37:20.841Z,1754689040.841 [DAT](INFO): got valid direction response:
 21:37:20.1328 LVL= 24144, 19137, 32098, 32755, AGC= 33, IDX= 501, 0.14, 0.535, 1.821,-0.072, 1.578, PHS=-0.940, 0.289,-1.694, RAW= 352.1,  25.6, CAL= 351.6,  30.4, ROT= 158.4, -30.4

2025-08-08T21:37:20.841Z,1754689040.841 [DAT](INFO): #Rx 55: Read direction message, but no range.
2025-08-08T21:37:20.843Z,1754689040.843 [DAT](INFO): direction in FSK: [-0.801945,0.317513,0.506034]
2025-08-08T21:37:20.849Z,1754689040.849 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=29.257748
2025-08-08T21:37:21.090Z,1754689041.090 [DAT](INFO): DAT read: Rx Time:21:37:20.6329 

2025-08-08T21:37:21.092Z,1754689041.092 [DAT](INFO): Rx dataTimestamp_ set to:1754689041.090643
2025-08-08T21:37:21.095Z,1754689041.095 [DAT](INFO): DAT read: Bearing 349.5,  14.4 (Local)

2025-08-08T21:37:21.099Z,1754689041.099 [DAT](INFO): Local bearing/azimuth received:
 Bearing 349.5,  14.4 (Local)

2025-08-08T21:37:21.105Z,1754689041.105 [DAT](INFO): DAT read: Range 11 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2025-08-08T21:37:21.109Z,1754689041.109 [DAT](ERROR): #Rx 56: Read range message, but no direction.
2025-08-08T21:37:21.157Z,1754689041.157 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=29.566513
2025-08-08T21:37:21.323Z,1754689041.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.300000 m,
      deltaT: 0.504685 s,
      deltaX: 0.100000 m,
      approachRate: 0.198143 m/s,
      rangeRepo size: 4

2025-08-08T21:37:21.330Z,1754689041.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.300000 m,
      bearing: 208.364975 deg,
      lat: 36.906033 deg,
      lon: -122.115847 deg,
      deltaT: 0.762292 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-08T21:37:21.341Z,1754689041.341 [DAT](INFO): DAT read: 21:37:20.6329 LVL= 26576, 18929, 32242, 32755, AGC= 33, IDX= 502, 0.26, 1.715, 2.967, 1.087, 2.750, PHS=-0.934, 0.261,-1.708, RAW= 353.0,  26.1, CAL= 352.3,  31.0, ROT= 157.7, -31.0

2025-08-08T21:37:21.342Z,1754689041.342 [DAT](INFO): got valid direction response:
 21:37:20.6329 LVL= 26576, 18929, 32242, 32755, AGC= 33, IDX= 502, 0.26, 1.715, 2.967, 1.087, 2.750, PHS=-0.934, 0.261,-1.708, RAW= 353.0,  26.1, CAL= 352.3,  31.0, ROT= 157.7, -31.0

2025-08-08T21:37:21.342Z,1754689041.342 [DAT](INFO): #Rx 57: Read direction message, but no range.
2025-08-08T21:37:21.343Z,1754689041.343 [DAT](INFO): direction in FSK: [-0.793060,0.325257,0.515038]
2025-08-08T21:37:21.351Z,1754689041.351 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=29.760937
2025-08-08T21:37:21.592Z,1754689041.592 [DAT](INFO): DAT read: Rx Time:21:37:21.1328 

2025-08-08T21:37:21.594Z,1754689041.594 [DAT](INFO): Rx dataTimestamp_ set to:1754689041.592775
2025-08-08T21:37:21.597Z,1754689041.597 [DAT](INFO): DAT read: Bearing 348.8,  14.5 (Local)

2025-08-08T21:37:21.599Z,1754689041.599 [DAT](INFO): Local bearing/azimuth received:
 Bearing 348.8,  14.5 (Local)

2025-08-08T21:37:21.603Z,1754689041.603 [DAT](INFO): DAT read: Range 11 to 50 :     0.2 m (trip time 0.1 ms) speed 0.0

2025-08-08T21:37:21.606Z,1754689041.606 [DAT](ERROR): #Rx 58: Read range message, but no direction.
2025-08-08T21:37:21.610Z,1754689041.610 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=30.018909
2025-08-08T21:37:21.751Z,1754689041.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.200000 m,
      deltaT: 0.502132 s,
      deltaX: -0.100000 m,
      approachRate: -0.199151 m/s,
      rangeRepo size: 4

2025-08-08T21:37:21.754Z,1754689041.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.200000 m,
      bearing: 205.996850 deg,
      lat: 36.906033 deg,
      lon: -122.115847 deg,
      deltaT: 0.502132 s,
      deltaX: -0.100000 m,
      approachRate: -0.199151 m/s,
      posRepo size: 4

2025-08-08T21:37:21.847Z,1754689041.847 [DAT](INFO): DAT read: 21:37:21.1328 LVL= 24400, 19201, 32082, 32755, AGC= 33, IDX= 501, 0.46,-0.160, 1.066,-0.796, 0.881, PHS=-0.940, 0.230,-1.721, RAW= 353.4,  26.8, CAL= 352.7,  31.7, ROT= 157.3, -31.7

2025-08-08T21:37:21.849Z,1754689041.849 [DAT](INFO): got valid direction response:
 21:37:21.1328 LVL= 24400, 19201, 32082, 32755, AGC= 33, IDX= 501, 0.46,-0.160, 1.066,-0.796, 0.881, PHS=-0.940, 0.230,-1.721, RAW= 353.4,  26.8, CAL= 352.7,  31.7, ROT= 157.3, -31.7

2025-08-08T21:37:21.849Z,1754689041.849 [DAT](INFO): #Rx 59: Read direction message, but no range.
2025-08-08T21:37:21.851Z,1754689041.851 [DAT](INFO): direction in FSK: [-0.784906,0.328333,0.525472]
2025-08-08T21:37:21.857Z,1754689041.857 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=30.266500
2025-08-08T21:37:22.098Z,1754689042.098 [DAT](INFO): DAT read: Rx Time:21:37:21.6330 

2025-08-08T21:37:22.100Z,1754689042.100 [DAT](INFO): Rx dataTimestamp_ set to:1754689042.098776
2025-08-08T21:37:22.103Z,1754689042.103 [DAT](INFO): DAT read: Bearing 349.6,  13.8 (Local)

2025-08-08T21:37:22.105Z,1754689042.105 [DAT](INFO): Local bearing/azimuth received:
 Bearing 349.6,  13.8 (Local)

2025-08-08T21:37:22.118Z,1754689042.118 [DAT](INFO): DAT read: Range 11 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-08-08T21:37:22.130Z,1754689042.130 [DAT](ERROR): #Rx 60: Read range message, but no direction.
2025-08-08T21:37:22.131Z,1754689042.131 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=30.541437
2025-08-08T21:37:22.322Z,1754689042.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.500000 m,
      deltaT: 0.506001 s,
      deltaX: 0.300000 m,
      approachRate: 0.592884 m/s,
      rangeRepo size: 4

2025-08-08T21:37:22.328Z,1754689042.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.500000 m,
      bearing: 202.446633 deg,
      lat: 36.906033 deg,
      lon: -122.115847 deg,
      deltaT: 0.506001 s,
      deltaX: 0.300000 m,
      approachRate: 0.592884 m/s,
      posRepo size: 4

2025-08-08T21:37:22.349Z,1754689042.349 [DAT](INFO): DAT read: 21:37:21.6330 LVL= 27120, 21201, 32754, 32755, AGC= 34, IDX= 503,-0.37,-0.446, 0.857,-1.078, 0.635, PHS=-0.979, 0.267,-1.757, RAW= 352.4,  26.3, CAL= 351.8,  31.2, ROT= 158.2, -31.2

2025-08-08T21:37:22.350Z,1754689042.350 [DAT](INFO): got valid direction response:
 21:37:21.6330 LVL= 27120, 21201, 32754, 32755, AGC= 34, IDX= 503,-0.37,-0.446, 0.857,-1.078, 0.635, PHS=-0.979, 0.267,-1.757, RAW= 352.4,  26.3, CAL= 351.8,  31.2, ROT= 158.2, -31.2

2025-08-08T21:37:22.350Z,1754689042.350 [DAT](INFO): #Rx 61: Read direction message, but no range.
2025-08-08T21:37:22.351Z,1754689042.351 [DAT](INFO): direction in FSK: [-0.794194,0.317655,0.518027]
2025-08-08T21:37:22.358Z,1754689042.358 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=30.768194
2025-08-08T21:37:22.601Z,1754689042.601 [DAT](INFO): DAT read: Rx Time:21:37:22.1329 

2025-08-08T21:37:22.603Z,1754689042.603 [DAT](INFO): Rx dataTimestamp_ set to:1754689042.601977
2025-08-08T21:37:22.607Z,1754689042.607 [DAT](INFO): DAT read: Bearing 349.4,  13.1 (Local)

2025-08-08T21:37:22.608Z,1754689042.608 [DAT](INFO): Local bearing/azimuth received:
 Bearing 349.4,  13.1 (Local)

2025-08-08T21:37:22.615Z,1754689042.615 [DAT](INFO): DAT read: Range 11 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2025-08-08T21:37:22.622Z,1754689042.622 [DAT](ERROR): #Rx 62: Read range message, but no direction.
2025-08-08T21:37:22.631Z,1754689042.631 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=31.041231
2025-08-08T21:37:22.732Z,1754689042.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.300000 m,
      deltaT: 0.503201 s,
      deltaX: -0.200000 m,
      approachRate: -0.397455 m/s,
      rangeRepo size: 4

2025-08-08T21:37:22.735Z,1754689042.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.300000 m,
      bearing: 199.751314 deg,
      lat: 36.906033 deg,
      lon: -122.115847 deg,
      deltaT: 0.503201 s,
      deltaX: -0.200000 m,
      approachRate: -0.397455 m/s,
      posRepo size: 4

2025-08-08T21:37:22.855Z,1754689042.855 [DAT](INFO): DAT read: 21:37:22.1329 LVL= 30560, 21489, 32754, 32755, AGC= 34, IDX= 502,-0.27,-0.950, 0.353,-1.558, 0.143, PHS=-0.991, 0.255,-1.745, RAW= 351.9,  26.6, CAL= 351.2,  31.5, ROT= 158.8, -31.5

2025-08-08T21:37:22.857Z,1754689042.857 [DAT](INFO): got valid direction response:
 21:37:22.1329 LVL= 30560, 21489, 32754, 32755, AGC= 34, IDX= 502,-0.27,-0.950, 0.353,-1.558, 0.143, PHS=-0.991, 0.255,-1.745, RAW= 351.9,  26.6, CAL= 351.2,  31.5, ROT= 158.8, -31.5

2025-08-08T21:37:22.857Z,1754689042.857 [DAT](INFO): #Rx 63: Read direction message, but no range.
2025-08-08T21:37:22.859Z,1754689042.859 [DAT](INFO): direction in FSK: [-0.794937,0.308336,0.522499]
2025-08-08T21:37:22.865Z,1754689042.865 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=31.274508
2025-08-08T21:37:23.105Z,1754689043.105 [DAT](INFO): DAT read: Rx Time:21:37:22.6330 

2025-08-08T21:37:23.107Z,1754689043.107 [DAT](INFO): Rx dataTimestamp_ set to:1754689043.106113
2025-08-08T21:37:23.111Z,1754689043.111 [DAT](INFO): DAT read: Bearing 350.6,  12.2 (Local)

2025-08-08T21:37:23.113Z,1754689043.113 [DAT](INFO): Local bearing/azimuth received:
 Bearing 350.6,  12.2 (Local)

2025-08-08T21:37:23.123Z,1754689043.123 [DAT](INFO): DAT read: Range 11 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-08-08T21:37:23.130Z,1754689043.130 [DAT](ERROR): #Rx 64: Read range message, but no direction.
2025-08-08T21:37:23.135Z,1754689043.135 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=31.545269
2025-08-08T21:37:23.361Z,1754689043.361 [DAT](INFO): DAT read: 21:37:22.6330 LVL= 30944, 21361, 32754, 32755, AGC= 34, IDX= 503,-0.18, 0.223, 1.601,-0.363, 1.339, PHS=-1.013, 0.307,-1.746, RAW= 350.6,  25.7, CAL= 350.1,  30.5, ROT= 159.9, -30.5

2025-08-08T21:37:23.362Z,1754689043.362 [DAT](INFO): got valid direction response:
 21:37:22.6330 LVL= 30944, 21361, 32754, 32755, AGC= 34, IDX= 503,-0.18, 0.223, 1.601,-0.363, 1.339, PHS=-1.013, 0.307,-1.746, RAW= 350.6,  25.7, CAL= 350.1,  30.5, ROT= 159.9, -30.5

2025-08-08T21:37:23.362Z,1754689043.362 [DAT](INFO): #Rx 65: Read direction message, but no range.
2025-08-08T21:37:23.363Z,1754689043.363 [DAT](INFO): direction in FSK: [-0.809151,0.296107,0.507538]
2025-08-08T21:37:23.367Z,1754689043.367 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=31.776497
2025-08-08T21:37:23.417Z,1754689043.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.500000 m,
      deltaT: 0.504136 s,
      deltaX: 0.200000 m,
      approachRate: 0.396718 m/s,
      rangeRepo size: 4

2025-08-08T21:37:23.419Z,1754689043.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.500000 m,
      bearing: 199.607190 deg,
      lat: 36.906033 deg,
      lon: -122.115847 deg,
      deltaT: 0.504136 s,
      deltaX: 0.200000 m,
      approachRate: 0.396718 m/s,
      posRepo size: 4

2025-08-08T21:37:23.609Z,1754689043.609 [DAT](INFO): DAT read: Rx Time:21:37:23.1329 

2025-08-08T21:37:23.611Z,1754689043.611 [DAT](INFO): Rx dataTimestamp_ set to:1754689043.610011
2025-08-08T21:37:23.615Z,1754689043.615 [DAT](INFO): DAT read: Bearing 353.3,  11.1 (Local)

2025-08-08T21:37:23.627Z,1754689043.627 [DAT](INFO): Local bearing/azimuth received:
 Bearing 353.3,  11.1 (Local)

2025-08-08T21:37:23.641Z,1754689043.641 [DAT](INFO): DAT read: Range 11 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2025-08-08T21:37:23.667Z,1754689043.667 [DAT](INFO): DAT read: 21:37:23.1329 LVL= 31216, 21489, 32754, 32755, AGC= 34, IDX= 502,-0.10,-0.328, 1.174,-0.883, 0.801, PHS=-1.026, 0.418,-1.728, RAW= 348.7,  23.5, CAL= 348.4,  28.3, ROT= 161.6, -28.3

2025-08-08T21:37:23.669Z,1754689043.669 [DAT](INFO): got valid direction response:
 21:37:23.1329 LVL= 31216, 21489, 32754, 32755, AGC= 34, IDX= 502,-0.10,-0.328, 1.174,-0.883, 0.801, PHS=-1.026, 0.418,-1.728, RAW= 348.7,  23.5, CAL= 348.4,  28.3, ROT= 161.6, -28.3

2025-08-08T21:37:23.669Z,1754689043.669 [DAT](INFO): #Rx 66: Read range and direction messages.
2025-08-08T21:37:23.670Z,1754689043.670 [DAT](INFO): direction in FSK: [-0.835464,0.277922,0.474088]
2025-08-08T21:37:23.670Z,1754689043.670 [DAT](INFO): publishing direction and range info
2025-08-08T21:37:23.699Z,1754689043.699 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=32.108513
2025-08-08T21:37:23.855Z,1754689043.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.300000 m,
      deltaT: 0.503898 s,
      deltaX: -0.200000 m,
      approachRate: -0.396906 m/s,
      rangeRepo size: 4

2025-08-08T21:37:23.858Z,1754689043.858 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=32.267639
2025-08-08T21:37:23.862Z,1754689043.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.300000 m,
      bearing: 206.629534 deg,
      lat: 36.906033 deg,
      lon: -122.115848 deg,
      deltaT: 0.503898 s,
      deltaX: -0.200000 m,
      approachRate: -0.396906 m/s,
      posRepo size: 4

2025-08-08T21:37:24.114Z,1754689044.114 [DAT](INFO): DAT read: Rx Time:21:37:23.6329 

2025-08-08T21:37:24.116Z,1754689044.116 [DAT](INFO): Rx dataTimestamp_ set to:1754689044.114524
2025-08-08T21:37:24.120Z,1754689044.120 [DAT](INFO): DAT read: Bearing 355.9,   9.9 (Local)

2025-08-08T21:37:24.121Z,1754689044.121 [DAT](INFO): Local bearing/azimuth received:
 Bearing 355.9,   9.9 (Local)

2025-08-08T21:37:24.130Z,1754689044.130 [DAT](INFO): DAT read: Range 11 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2025-08-08T21:37:24.216Z,1754689044.216 [DAT](INFO): DAT read: 21:37:23.6329 LVL= 31008, 21457, 32754, 32755, AGC= 34, IDX= 502,-0.02, 0.299, 1.931,-0.227, 1.442, PHS=-1.041, 0.533,-1.714, RAW= 346.9,  21.5, CAL= 346.9,  26.1, ROT= 163.1, -26.1

2025-08-08T21:37:24.219Z,1754689044.219 [DAT](INFO): got valid direction response:
 21:37:23.6329 LVL= 31008, 21457, 32754, 32755, AGC= 34, IDX= 502,-0.02, 0.299, 1.931,-0.227, 1.442, PHS=-1.041, 0.533,-1.714, RAW= 346.9,  21.5, CAL= 346.9,  26.1, ROT= 163.1, -26.1

2025-08-08T21:37:24.237Z,1754689044.237 [DAT](INFO): #Rx 67: Read range and direction messages.
2025-08-08T21:37:24.252Z,1754689044.252 [DAT](INFO): direction in FSK: [-0.859245,0.261059,0.439939]
2025-08-08T21:37:24.253Z,1754689044.253 [DAT](INFO): publishing direction and range info
2025-08-08T21:37:24.262Z,1754689044.262 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=32.672211
2025-08-08T21:37:24.295Z,1754689044.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.300000 m,
      deltaT: 0.504513 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-08T21:37:24.303Z,1754689044.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.300000 m,
      bearing: 207.780275 deg,
      lat: 36.906033 deg,
      lon: -122.115848 deg,
      deltaT: 0.504513 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-08T21:37:24.362Z,1754689044.362 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=32.771397
2025-08-08T21:37:24.617Z,1754689044.617 [DAT](INFO): DAT read: Rx Time:21:37:24.1328 

2025-08-08T21:37:24.619Z,1754689044.619 [DAT](INFO): Rx dataTimestamp_ set to:1754689044.618220
2025-08-08T21:37:24.632Z,1754689044.632 [DAT](INFO): DAT read: Bearing 358.8,   8.9 (Local)

2025-08-08T21:37:24.632Z,1754689044.632 [DAT](INFO): Local bearing/azimuth received:
 Bearing 358.8,   8.9 (Local)

2025-08-08T21:37:24.634Z,1754689044.634 [DAT](INFO): DAT read: Range 11 to 50 :     0.2 m (trip time 0.1 ms) speed 0.0

2025-08-08T21:37:24.643Z,1754689044.643 [DAT](INFO): DAT read: 21:37:24.1328 LVL= 28912, 21601, 32754, 32755, AGC= 34, IDX= 501, 0.09,-0.233, 1.544,-0.730, 0.915, PHS=-1.047, 0.674,-1.689, RAW= 345.2,  19.0, CAL= 345.5,  23.6, ROT= 164.5, -23.6

2025-08-08T21:37:24.648Z,1754689044.648 [DAT](INFO): got valid direction response:
 21:37:24.1328 LVL= 28912, 21601, 32754, 32755, AGC= 34, IDX= 501, 0.09,-0.233, 1.544,-0.730, 0.915, PHS=-1.047, 0.674,-1.689, RAW= 345.2,  19.0, CAL= 345.5,  23.6, ROT= 164.5, -23.6

2025-08-08T21:37:24.649Z,1754689044.649 [DAT](INFO): #Rx 68: Read range and direction messages.
2025-08-08T21:37:24.650Z,1754689044.650 [DAT](INFO): direction in FSK: [-0.883035,0.244887,0.400349]
2025-08-08T21:37:24.650Z,1754689044.650 [DAT](INFO): publishing direction and range info
2025-08-08T21:37:24.665Z,1754689044.665 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=33.075413
2025-08-08T21:37:24.788Z,1754689044.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.200000 m,
      deltaT: 0.503696 s,
      deltaX: -0.100000 m,
      approachRate: -0.198532 m/s,
      rangeRepo size: 4

2025-08-08T21:37:24.801Z,1754689044.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.200000 m,
      bearing: 203.537636 deg,
      lat: 36.906033 deg,
      lon: -122.115848 deg,
      deltaT: 0.503696 s,
      deltaX: -0.100000 m,
      approachRate: -0.198532 m/s,
      posRepo size: 4

2025-08-08T21:37:24.866Z,1754689044.866 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=33.275440
2025-08-08T21:37:25.117Z,1754689045.117 [DAT](INFO): DAT read: Rx Time:21:37:24.6329 

2025-08-08T21:37:25.117Z,1754689045.117 [DAT](INFO): Rx dataTimestamp_ set to:1754689045.117153
2025-08-08T21:37:25.119Z,1754689045.119 [DAT](INFO): DAT read: Range 11 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2025-08-08T21:37:25.119Z,1754689045.119 [DAT](ERROR): #Rx 69: Read range message, but no direction.
2025-08-08T21:37:25.120Z,1754689045.120 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=33.530216
2025-08-08T21:37:25.198Z,1754689045.198 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-08T21:37:25.221Z,1754689045.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.300000 m,
      deltaT: 0.498933 s,
      deltaX: 0.100000 m,
      approachRate: 0.200428 m/s,
      rangeRepo size: 4

2025-08-08T21:37:25.369Z,1754689045.369 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=33.779182
2025-08-08T21:37:25.625Z,1754689045.625 [DAT](INFO): DAT read: Rx Time:21:37:25.1328 

2025-08-08T21:37:25.627Z,1754689045.627 [DAT](INFO): Rx dataTimestamp_ set to:1754689045.625995
2025-08-08T21:37:25.631Z,1754689045.631 [DAT](INFO): DAT read: Bearing 357.2,   8.6 (Local)

2025-08-08T21:37:25.631Z,1754689045.631 [DAT](INFO): Local bearing/azimuth received:
 Bearing 357.2,   8.6 (Local)

2025-08-08T21:37:25.633Z,1754689045.633 [DAT](INFO): DAT read: Range 11 to 50 :     0.2 m (trip time 0.1 ms) speed 0.0

2025-08-08T21:37:25.638Z,1754689045.638 [DAT](INFO): DAT read: 21:37:25.1328 LVL= 28736, 21425, 32754, 32755, AGC= 34, IDX= 501, 0.39,-0.968, 0.741,-1.461, 0.198, PHS=-1.064, 0.589,-1.702, RAW= 345.7,  20.6, CAL= 345.7,  25.2, ROT= 164.3, -25.2

2025-08-08T21:37:25.639Z,1754689045.639 [DAT](INFO): got valid direction response:
 21:37:25.1328 LVL= 28736, 21425, 32754, 32755, AGC= 34, IDX= 501, 0.39,-0.968, 0.741,-1.461, 0.198, PHS=-1.064, 0.589,-1.702, RAW= 345.7,  20.6, CAL= 345.7,  25.2, ROT= 164.3, -25.2

2025-08-08T21:37:25.639Z,1754689045.639 [DAT](INFO): #Rx 70: Read range and direction messages.
2025-08-08T21:37:25.640Z,1754689045.640 [DAT](INFO): direction in FSK: [-0.871070,0.244846,0.425779]
2025-08-08T21:37:25.640Z,1754689045.640 [DAT](INFO): publishing direction and range info
2025-08-08T21:37:25.644Z,1754689045.644 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=34.054039
2025-08-08T21:37:25.663Z,1754689045.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.200000 m,
      deltaT: 0.508842 s,
      deltaX: -0.100000 m,
      approachRate: -0.196525 m/s,
      rangeRepo size: 4

2025-08-08T21:37:25.669Z,1754689045.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.200000 m,
      bearing: 203.485882 deg,
      lat: 36.906033 deg,
      lon: -122.115848 deg,
      deltaT: 1.007775 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-08T21:37:25.873Z,1754689045.873 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=34.283161
2025-08-08T21:37:26.126Z,1754689046.126 [DAT](INFO): DAT read: Rx Time:21:37:25.6330 

2025-08-08T21:37:26.127Z,1754689046.127 [DAT](INFO): Rx dataTimestamp_ set to:1754689046.126668
2025-08-08T21:37:26.128Z,1754689046.128 [DAT](INFO): DAT read: Bearing 354.1,   9.4 (Local)

2025-08-08T21:37:26.129Z,1754689046.129 [DAT](INFO): Local bearing/azimuth received:
 Bearing 354.1,   9.4 (Local)

2025-08-08T21:37:26.131Z,1754689046.131 [DAT](INFO): DAT read: Range 11 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-08-08T21:37:26.135Z,1754689046.135 [DAT](INFO): DAT read: 21:37:25.6330 LVL= 30528, 21585, 32754, 32755, AGC= 34, IDX= 503,-0.40,-1.139, 0.431,-1.665, 0.034, PHS=-1.071, 0.442,-1.743, RAW= 347.5,  23.4, CAL= 347.2,  28.1, ROT= 162.8, -28.1

2025-08-08T21:37:26.136Z,1754689046.136 [DAT](INFO): got valid direction response:
 21:37:25.6330 LVL= 30528, 21585, 32754, 32755, AGC= 34, IDX= 503,-0.40,-1.139, 0.431,-1.665, 0.034, PHS=-1.071, 0.442,-1.743, RAW= 347.5,  23.4, CAL= 347.2,  28.1, ROT= 162.8, -28.1

2025-08-08T21:37:26.137Z,1754689046.137 [DAT](INFO): #Rx 71: Read range and direction messages.
2025-08-08T21:37:26.138Z,1754689046.138 [DAT](INFO): direction in FSK: [-0.842677,0.260852,0.471012]
2025-08-08T21:37:26.138Z,1754689046.138 [DAT](INFO): publishing direction and range info
2025-08-08T21:37:26.142Z,1754689046.142 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=34.551533
2025-08-08T21:37:26.377Z,1754689046.377 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=34.786957
2025-08-08T21:37:26.399Z,1754689046.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.500000 m,
      deltaT: 0.500673 s,
      deltaX: 0.300000 m,
      approachRate: 0.599194 m/s,
      rangeRepo size: 4

2025-08-08T21:37:26.405Z,1754689046.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.500000 m,
      bearing: 207.482532 deg,
      lat: 36.906033 deg,
      lon: -122.115848 deg,
      deltaT: 0.500673 s,
      deltaX: 0.300000 m,
      approachRate: 0.599194 m/s,
      posRepo size: 4

2025-08-08T21:37:26.630Z,1754689046.630 [DAT](INFO): DAT read: Rx Time:21:37:26.1329 

2025-08-08T21:37:26.630Z,1754689046.630 [DAT](INFO): Rx dataTimestamp_ set to:1754689046.629933
2025-08-08T21:37:26.631Z,1754689046.631 [DAT](INFO): DAT read: Bearing 354.1,  10.4 (Local)

2025-08-08T21:37:26.632Z,1754689046.632 [DAT](INFO): Local bearing/azimuth received:
 Bearing 354.1,  10.4 (Local)

2025-08-08T21:37:26.634Z,1754689046.634 [DAT](INFO): DAT read: Range 11 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2025-08-08T21:37:26.639Z,1754689046.639 [DAT](INFO): DAT read: 21:37:26.1329 LVL= 27120, 25201, 31986, 32755, AGC= 35, IDX= 502,-0.18, 2.633,-2.083, 2.055,-2.491, PHS=-1.058, 0.453,-1.782, RAW= 348.5,  23.1, CAL= 348.3,  27.9, ROT= 161.7, -27.9

2025-08-08T21:37:26.640Z,1754689046.640 [DAT](INFO): got valid direction response:
 21:37:26.1329 LVL= 27120, 25201, 31986, 32755, AGC= 35, IDX= 502,-0.18, 2.633,-2.083, 2.055,-2.491, PHS=-1.058, 0.453,-1.782, RAW= 348.5,  23.1, CAL= 348.3,  27.9, ROT= 161.7, -27.9

2025-08-08T21:37:26.640Z,1754689046.640 [DAT](INFO): #Rx 72: Read range and direction messages.
2025-08-08T21:37:26.641Z,1754689046.641 [DAT](INFO): direction in FSK: [-0.839070,0.277496,0.467930]
2025-08-08T21:37:26.641Z,1754689046.641 [DAT](INFO): publishing direction and range info
2025-08-08T21:37:26.645Z,1754689046.645 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=35.055119
2025-08-08T21:37:26.835Z,1754689046.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.300000 m,
      deltaT: 0.503265 s,
      deltaX: -0.200000 m,
      approachRate: -0.397405 m/s,
      rangeRepo size: 4

2025-08-08T21:37:26.845Z,1754689046.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.300000 m,
      bearing: 213.130585 deg,
      lat: 36.906033 deg,
      lon: -122.115848 deg,
      deltaT: 0.503265 s,
      deltaX: -0.200000 m,
      approachRate: -0.397405 m/s,
      posRepo size: 4

2025-08-08T21:37:26.882Z,1754689046.882 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=35.291534
2025-08-08T21:37:27.133Z,1754689047.133 [DAT](INFO): DAT read: Rx Time:21:37:26.6329 

2025-08-08T21:37:27.134Z,1754689047.134 [DAT](INFO): Rx dataTimestamp_ set to:1754689047.133590
2025-08-08T21:37:27.135Z,1754689047.135 [DAT](INFO): DAT read: Bearing 354.8,  11.4 (Local)

2025-08-08T21:37:27.135Z,1754689047.135 [DAT](INFO): Local bearing/azimuth received:
 Bearing 354.8,  11.4 (Local)

2025-08-08T21:37:27.138Z,1754689047.138 [DAT](INFO): DAT read: Range 11 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2025-08-08T21:37:27.142Z,1754689047.142 [DAT](INFO): DAT read: 21:37:26.6329 LVL= 26912, 21169, 32754, 32755, AGC= 34, IDX= 502,-0.10,-2.871,-1.330, 2.805,-1.764, PHS=-1.004, 0.479,-1.758, RAW= 349.3,  22.3, CAL= 349.2,  26.9, ROT= 160.8, -26.9

2025-08-08T21:37:27.143Z,1754689047.143 [DAT](INFO): got valid direction response:
 21:37:26.6329 LVL= 26912, 21169, 32754, 32755, AGC= 34, IDX= 502,-0.10,-2.871,-1.330, 2.805,-1.764, PHS=-1.004, 0.479,-1.758, RAW= 349.3,  22.3, CAL= 349.2,  26.9, ROT= 160.8, -26.9

2025-08-08T21:37:27.144Z,1754689047.144 [DAT](INFO): #Rx 73: Read range and direction messages.
2025-08-08T21:37:27.145Z,1754689047.145 [DAT](INFO): direction in FSK: [-0.842193,0.293282,0.452435]
2025-08-08T21:37:27.145Z,1754689047.145 [DAT](INFO): publishing direction and range info
2025-08-08T21:37:27.165Z,1754689047.165 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=35.574490
2025-08-08T21:37:27.316Z,1754689047.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.300000 m,
      deltaT: 0.503657 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-08T21:37:27.318Z,1754689047.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.300000 m,
      bearing: 207.697713 deg,
      lat: 36.906033 deg,
      lon: -122.115848 deg,
      deltaT: 0.503657 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-08T21:37:27.386Z,1754689047.386 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=35.795650
2025-08-08T21:37:27.637Z,1754689047.637 [DAT](INFO): DAT read: Rx Time:21:37:27.1328 

2025-08-08T21:37:27.638Z,1754689047.638 [DAT](INFO): Rx dataTimestamp_ set to:1754689047.637611
2025-08-08T21:37:27.639Z,1754689047.639 [DAT](INFO): DAT read: Bearing 355.1,  11.8 (Local)

2025-08-08T21:37:27.639Z,1754689047.639 [DAT](INFO): Local bearing/azimuth received:
 Bearing 355.1,  11.8 (Local)

2025-08-08T21:37:27.642Z,1754689047.642 [DAT](INFO): DAT read: Range 11 to 50 :     0.2 m (trip time 0.1 ms) speed 0.0

2025-08-08T21:37:27.646Z,1754689047.646 [DAT](INFO): DAT read: 21:37:27.1328 LVL= 27632, 25841, 32754, 32755, AGC= 35, IDX= 501, 0.01, 2.946,-1.765, 2.310,-2.233, PHS=-1.002, 0.514,-1.783, RAW= 349.5,  21.7, CAL= 349.5,  26.3, ROT= 160.5, -26.3

2025-08-08T21:37:27.647Z,1754689047.647 [DAT](INFO): got valid direction response:
 21:37:27.1328 LVL= 27632, 25841, 32754, 32755, AGC= 35, IDX= 501, 0.01, 2.946,-1.765, 2.310,-2.233, PHS=-1.002, 0.514,-1.783, RAW= 349.5,  21.7, CAL= 349.5,  26.3, ROT= 160.5, -26.3

2025-08-08T21:37:27.648Z,1754689047.648 [DAT](INFO): #Rx 74: Read range and direction messages.
2025-08-08T21:37:27.649Z,1754689047.649 [DAT](INFO): direction in FSK: [-0.845065,0.299253,0.443071]
2025-08-08T21:37:27.649Z,1754689047.649 [DAT](INFO): publishing direction and range info
2025-08-08T21:37:27.652Z,1754689047.652 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=36.062420
2025-08-08T21:37:27.764Z,1754689047.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.200000 m,
      deltaT: 0.504021 s,
      deltaX: -0.100000 m,
      approachRate: -0.198404 m/s,
      rangeRepo size: 4

2025-08-08T21:37:27.766Z,1754689047.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.200000 m,
      bearing: 208.420361 deg,
      lat: 36.906033 deg,
      lon: -122.115848 deg,
      deltaT: 0.504021 s,
      deltaX: -0.100000 m,
      approachRate: -0.198404 m/s,
      posRepo size: 4

2025-08-08T21:37:27.890Z,1754689047.890 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=36.300011
2025-08-08T21:37:28.142Z,1754689048.142 [DAT](INFO): DAT read: Rx Time:21:37:27.6329 

2025-08-08T21:37:28.142Z,1754689048.142 [DAT](INFO): Rx dataTimestamp_ set to:1754689048.141714
2025-08-08T21:37:28.143Z,1754689048.143 [DAT](INFO): DAT read: Bearing 356.2,  12.4 (Local)

2025-08-08T21:37:28.144Z,1754689048.144 [DAT](INFO): Local bearing/azimuth received:
 Bearing 356.2,  12.4 (Local)

2025-08-08T21:37:28.146Z,1754689048.146 [DAT](INFO): DAT read: Range 11 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2025-08-08T21:37:28.150Z,1754689048.150 [DAT](INFO): DAT read: 21:37:27.6329 LVL= 26480, 26097, 32754, 32755, AGC= 35, IDX= 502, 0.14,-2.102,-0.493,-2.763,-1.027, PHS=-0.972, 0.580,-1.780, RAW= 349.7,  20.3, CAL= 349.8,  24.9, ROT= 160.2, -24.9

2025-08-08T21:37:28.151Z,1754689048.151 [DAT](INFO): got valid direction response:
 21:37:27.6329 LVL= 26480, 26097, 32754, 32755, AGC= 35, IDX= 502, 0.14,-2.102,-0.493,-2.763,-1.027, PHS=-0.972, 0.580,-1.780, RAW= 349.7,  20.3, CAL= 349.8,  24.9, ROT= 160.2, -24.9

2025-08-08T21:37:28.152Z,1754689048.152 [DAT](INFO): #Rx 75: Read range and direction messages.
2025-08-08T21:37:28.153Z,1754689048.153 [DAT](INFO): direction in FSK: [-0.853420,0.307250,0.421036]
2025-08-08T21:37:28.153Z,1754689048.153 [DAT](INFO): publishing direction and range info
2025-08-08T21:37:28.161Z,1754689048.161 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=36.570599
2025-08-08T21:37:28.232Z,1754689048.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.300000 m,
      deltaT: 0.504103 s,
      deltaX: 0.100000 m,
      approachRate: 0.198372 m/s,
      rangeRepo size: 4

2025-08-08T21:37:28.241Z,1754689048.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.300000 m,
      bearing: 207.268104 deg,
      lat: 36.906033 deg,
      lon: -122.115848 deg,
      deltaT: 0.504103 s,
      deltaX: 0.100000 m,
      approachRate: 0.198372 m/s,
      posRepo size: 4

2025-08-08T21:37:28.393Z,1754689048.393 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=36.802952
2025-08-08T21:37:28.645Z,1754689048.645 [DAT](INFO): DAT read: Rx Time:21:37:28.1328 

2025-08-08T21:37:28.645Z,1754689048.645 [DAT](INFO): Rx dataTimestamp_ set to:1754689048.645221
2025-08-08T21:37:28.647Z,1754689048.647 [DAT](INFO): DAT read: Range 11 to 50 :     0.2 m (trip time 0.1 ms) speed 0.0

2025-08-08T21:37:28.647Z,1754689048.647 [DAT](ERROR): #Rx 76: Read range message, but no direction.
2025-08-08T21:37:28.648Z,1754689048.648 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=37.058289
2025-08-08T21:37:28.667Z,1754689048.667 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-08T21:37:28.670Z,1754689048.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.200000 m,
      deltaT: 0.503507 s,
      deltaX: -0.100000 m,
      approachRate: -0.198607 m/s,
      rangeRepo size: 4

2025-08-08T21:37:28.900Z,1754689048.900 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=37.310085
2025-08-08T21:37:29.149Z,1754689049.149 [DAT](INFO): DAT read: Rx Time:21:37:28.6329 

2025-08-08T21:37:29.150Z,1754689049.150 [DAT](INFO): Rx dataTimestamp_ set to:1754689049.149509
2025-08-08T21:37:29.151Z,1754689049.151 [DAT](INFO): DAT read: Bearing 355.1,  13.5 (Local)

2025-08-08T21:37:29.151Z,1754689049.151 [DAT](INFO): Local bearing/azimuth received:
 Bearing 355.1,  13.5 (Local)

2025-08-08T21:37:29.153Z,1754689049.153 [DAT](INFO): DAT read: Range 11 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2025-08-08T21:37:29.158Z,1754689049.158 [DAT](INFO): DAT read: 21:37:28.6329 LVL= 26304, 20897, 32754, 32755, AGC= 34, IDX= 502, 0.42,-2.086,-0.536,-2.776,-1.050, PHS=-0.934, 0.559,-1.770, RAW= 350.8,  20.4, CAL= 350.8,  24.9, ROT= 159.2, -24.9

2025-08-08T21:37:29.159Z,1754689049.159 [DAT](INFO): got valid direction response:
 21:37:28.6329 LVL= 26304, 20897, 32754, 32755, AGC= 34, IDX= 502, 0.42,-2.086,-0.536,-2.776,-1.050, PHS=-0.934, 0.559,-1.770, RAW= 350.8,  20.4, CAL= 350.8,  24.9, ROT= 159.2, -24.9

2025-08-08T21:37:29.159Z,1754689049.159 [DAT](INFO): #Rx 77: Read range and direction messages.
2025-08-08T21:37:29.160Z,1754689049.160 [DAT](INFO): direction in FSK: [-0.847928,0.322098,0.421036]
2025-08-08T21:37:29.161Z,1754689049.161 [DAT](INFO): publishing direction and range info
2025-08-08T21:37:29.167Z,1754689049.167 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=37.576851
2025-08-08T21:37:29.401Z,1754689049.401 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=37.811153
2025-08-08T21:37:29.493Z,1754689049.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.300000 m,
      deltaT: 0.504288 s,
      deltaX: 0.100000 m,
      approachRate: 0.198299 m/s,
      rangeRepo size: 4

2025-08-08T21:37:29.495Z,1754689049.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.300000 m,
      bearing: 204.596588 deg,
      lat: 36.906033 deg,
      lon: -122.115848 deg,
      deltaT: 1.007795 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-08T21:37:29.653Z,1754689049.653 [DAT](INFO): DAT read: Rx Time:21:37:29.1328 

2025-08-08T21:37:29.654Z,1754689049.654 [DAT](INFO): Rx dataTimestamp_ set to:1754689049.653633
2025-08-08T21:37:29.655Z,1754689049.655 [DAT](INFO): DAT read: Bearing 352.5,  14.1 (Local)

2025-08-08T21:37:29.656Z,1754689049.656 [DAT](INFO): Local bearing/azimuth received:
 Bearing 352.5,  14.1 (Local)

2025-08-08T21:37:29.658Z,1754689049.658 [DAT](INFO): DAT read: Range 11 to 50 :     0.2 m (trip time 0.1 ms) speed 0.0

2025-08-08T21:37:29.662Z,1754689049.662 [DAT](INFO): DAT read: 21:37:29.1328 LVL= 26400, 20897, 32754, 32755, AGC= 34, IDX= 502,-0.38, 1.648, 3.107, 0.936, 2.690, PHS=-0.940, 0.462,-1.798, RAW= 352.1,  22.2, CAL= 351.9,  26.8, ROT= 158.1, -26.8

2025-08-08T21:37:29.663Z,1754689049.663 [DAT](INFO): got valid direction response:
 21:37:29.1328 LVL= 26400, 20897, 32754, 32755, AGC= 34, IDX= 502,-0.38, 1.648, 3.107, 0.936, 2.690, PHS=-0.940, 0.462,-1.798, RAW= 352.1,  22.2, CAL= 351.9,  26.8, ROT= 158.1, -26.8

2025-08-08T21:37:29.663Z,1754689049.663 [DAT](INFO): #Rx 78: Read range and direction messages.
2025-08-08T21:37:29.665Z,1754689049.665 [DAT](INFO): direction in FSK: [-0.828173,0.332924,0.450878]
2025-08-08T21:37:29.665Z,1754689049.665 [DAT](INFO): publishing direction and range info
2025-08-08T21:37:29.669Z,1754689049.669 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=38.078495
2025-08-08T21:37:29.889Z,1754689049.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.200000 m,
      deltaT: 0.504124 s,
      deltaX: -0.100000 m,
      approachRate: -0.198364 m/s,
      rangeRepo size: 4

2025-08-08T21:37:29.891Z,1754689049.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.200000 m,
      bearing: 203.460800 deg,
      lat: 36.906033 deg,
      lon: -122.115848 deg,
      deltaT: 0.504124 s,
      deltaX: -0.100000 m,
      approachRate: -0.198364 m/s,
      posRepo size: 4

2025-08-08T21:37:29.905Z,1754689049.905 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=38.314911
2025-08-08T21:37:30.161Z,1754689050.161 [DAT](INFO): DAT read: Rx Time:21:37:29.6330 

2025-08-08T21:37:30.162Z,1754689050.162 [DAT](INFO): Rx dataTimestamp_ set to:1754689050.161691
2025-08-08T21:37:30.164Z,1754689050.164 [DAT](INFO): DAT read: Bearing 350.1,  14.0 (Local)

2025-08-08T21:37:30.165Z,1754689050.165 [DAT](INFO): Local bearing/azimuth received:
 Bearing 350.1,  14.0 (Local)

2025-08-08T21:37:30.167Z,1754689050.167 [DAT](INFO): DAT read: Range 11 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-08-08T21:37:30.174Z,1754689050.174 [DAT](INFO): DAT read: 21:37:29.6330 LVL= 30064, 21089, 32754, 32755, AGC= 34, IDX= 503,-0.31,-2.798,-1.413, 2.793,-1.742, PHS=-0.954, 0.374,-1.792, RAW= 352.6,  23.9, CAL= 352.2,  28.7, ROT= 157.8, -28.7

2025-08-08T21:37:30.175Z,1754689050.175 [DAT](INFO): got valid direction response:
 21:37:29.6330 LVL= 30064, 21089, 32754, 32755, AGC= 34, IDX= 503,-0.31,-2.798,-1.413, 2.793,-1.742, PHS=-0.954, 0.374,-1.792, RAW= 352.6,  23.9, CAL= 352.2,  28.7, ROT= 157.8, -28.7

2025-08-08T21:37:30.175Z,1754689050.175 [DAT](INFO): #Rx 79: Read range and direction messages.
2025-08-08T21:37:30.177Z,1754689050.177 [DAT](INFO): direction in FSK: [-0.812124,0.331422,0.480224]
2025-08-08T21:37:30.177Z,1754689050.177 [DAT](INFO): publishing direction and range info
2025-08-08T21:37:30.181Z,1754689050.181 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=38.590775
2025-08-08T21:37:30.378Z,1754689050.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.500000 m,
      deltaT: 0.508058 s,
      deltaX: 0.300000 m,
      approachRate: 0.590484 m/s,
      rangeRepo size: 4

2025-08-08T21:37:30.392Z,1754689050.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.500000 m,
      bearing: 201.748709 deg,
      lat: 36.906033 deg,
      lon: -122.115848 deg,
      deltaT: 0.508058 s,
      deltaX: 0.300000 m,
      approachRate: 0.590484 m/s,
      posRepo size: 4

2025-08-08T21:37:30.409Z,1754689050.409 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=38.818977
2025-08-08T21:37:30.662Z,1754689050.662 [DAT](INFO): DAT read: Rx Time:21:37:30.1329 

2025-08-08T21:37:30.663Z,1754689050.663 [DAT](INFO): Rx dataTimestamp_ set to:1754689050.662596
2025-08-08T21:37:30.664Z,1754689050.664 [DAT](INFO): DAT read: Bearing 349.5,  13.6 (Local)

2025-08-08T21:37:30.665Z,1754689050.665 [DAT](INFO): Local bearing/azimuth received:
 Bearing 349.5,  13.6 (Local)

2025-08-08T21:37:30.667Z,1754689050.667 [DAT](INFO): DAT read: Range 11 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2025-08-08T21:37:30.672Z,1754689050.672 [DAT](INFO): DAT read: 21:37:30.1329 LVL= 30352, 21105, 32754, 32755, AGC= 34, IDX= 502,-0.23, 2.275,-2.610, 1.601,-2.933, PHS=-0.974, 0.368,-1.794, RAW= 352.1,  24.2, CAL= 351.7,  29.0, ROT= 158.3, -29.0

2025-08-08T21:37:30.673Z,1754689050.673 [DAT](INFO): got valid direction response:
 21:37:30.1329 LVL= 30352, 21105, 32754, 32755, AGC= 34, IDX= 502,-0.23, 2.275,-2.610, 1.601,-2.933, PHS=-0.974, 0.368,-1.794, RAW= 352.1,  24.2, CAL= 351.7,  29.0, ROT= 158.3, -29.0

2025-08-08T21:37:30.674Z,1754689050.674 [DAT](INFO): #Rx 80: Read range and direction messages.
2025-08-08T21:37:30.675Z,1754689050.675 [DAT](INFO): direction in FSK: [-0.812638,0.323388,0.484810]
2025-08-08T21:37:30.675Z,1754689050.675 [DAT](INFO): publishing direction and range info
2025-08-08T21:37:30.678Z,1754689050.678 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=39.088367
2025-08-08T21:37:30.866Z,1754689050.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.300000 m,
      deltaT: 0.500905 s,
      deltaX: -0.200000 m,
      approachRate: -0.399277 m/s,
      rangeRepo size: 4

2025-08-08T21:37:30.872Z,1754689050.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.300000 m,
      bearing: 199.419146 deg,
      lat: 36.906033 deg,
      lon: -122.115848 deg,
      deltaT: 0.500905 s,
      deltaX: -0.200000 m,
      approachRate: -0.399277 m/s,
      posRepo size: 4

2025-08-08T21:37:30.913Z,1754689050.913 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=39.323017
2025-08-08T21:37:31.166Z,1754689051.166 [DAT](INFO): DAT read: Rx Time:21:37:30.6330 

2025-08-08T21:37:31.167Z,1754689051.167 [DAT](INFO): Rx dataTimestamp_ set to:1754689051.166436
2025-08-08T21:37:31.168Z,1754689051.168 [DAT](INFO): DAT read: Bearing 350.4,  12.0 (Local)

2025-08-08T21:37:31.168Z,1754689051.168 [DAT](INFO): Local bearing/azimuth received:
 Bearing 350.4,  12.0 (Local)

2025-08-08T21:37:31.170Z,1754689051.170 [DAT](INFO): DAT read: Range 11 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-08-08T21:37:31.175Z,1754689051.175 [DAT](INFO): DAT read: 21:37:30.6330 LVL= 28448, 24657, 32370, 32755, AGC= 35, IDX= 503,-0.11,-2.912,-1.403, 2.750,-1.788, PHS=-1.022, 0.430,-1.789, RAW= 349.9,  23.3, CAL= 349.6,  28.1, ROT= 160.4, -28.1

2025-08-08T21:37:31.176Z,1754689051.176 [DAT](INFO): got valid direction response:
 21:37:30.6330 LVL= 28448, 24657, 32370, 32755, AGC= 35, IDX= 503,-0.11,-2.912,-1.403, 2.750,-1.788, PHS=-1.022, 0.430,-1.789, RAW= 349.9,  23.3, CAL= 349.6,  28.1, ROT= 160.4, -28.1

2025-08-08T21:37:31.177Z,1754689051.177 [DAT](INFO): #Rx 81: Read range and direction messages.
2025-08-08T21:37:31.178Z,1754689051.178 [DAT](INFO): direction in FSK: [-0.831014,0.295911,0.471012]
2025-08-08T21:37:31.178Z,1754689051.178 [DAT](INFO): publishing direction and range info
2025-08-08T21:37:31.201Z,1754689051.201 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=39.611313
2025-08-08T21:37:31.257Z,1754689051.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.500000 m,
      deltaT: 0.503840 s,
      deltaX: 0.200000 m,
      approachRate: 0.396951 m/s,
      rangeRepo size: 4

2025-08-08T21:37:31.259Z,1754689051.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.500000 m,
      bearing: 197.786849 deg,
      lat: 36.906033 deg,
      lon: -122.115848 deg,
      deltaT: 0.503840 s,
      deltaX: 0.200000 m,
      approachRate: 0.396951 m/s,
      posRepo size: 4

2025-08-08T21:37:31.417Z,1754689051.417 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=39.826916
2025-08-08T21:37:31.669Z,1754689051.669 [DAT](INFO): DAT read: Rx Time:21:37:31.1330 

2025-08-08T21:37:31.670Z,1754689051.670 [DAT](INFO): Rx dataTimestamp_ set to:1754689051.669640
2025-08-08T21:37:31.671Z,1754689051.671 [DAT](INFO): DAT read: Bearing 353.6,  11.0 (Local)

2025-08-08T21:37:31.671Z,1754689051.671 [DAT](INFO): Local bearing/azimuth received:
 Bearing 353.6,  11.0 (Local)

2025-08-08T21:37:31.674Z,1754689051.674 [DAT](INFO): DAT read: Range 11 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-08-08T21:37:31.678Z,1754689051.678 [DAT](INFO): DAT read: 21:37:31.1330 LVL= 27888, 21313, 32754, 32755, AGC= 34, IDX= 502,-0.07,-2.744,-1.101, 2.966,-1.640, PHS=-1.002, 0.583,-1.721, RAW= 347.8,  20.3, CAL= 347.8,  24.9, ROT= 162.2, -24.9

2025-08-08T21:37:31.679Z,1754689051.679 [DAT](INFO): got valid direction response:
 21:37:31.1330 LVL= 27888, 21313, 32754, 32755, AGC= 34, IDX= 502,-0.07,-2.744,-1.101, 2.966,-1.640, PHS=-1.002, 0.583,-1.721, RAW= 347.8,  20.3, CAL= 347.8,  24.9, ROT= 162.2, -24.9

2025-08-08T21:37:31.680Z,1754689051.680 [DAT](INFO): #Rx 82: Read range and direction messages.
2025-08-08T21:37:31.681Z,1754689051.681 [DAT](INFO): direction in FSK: [-0.863623,0.277279,0.421036]
2025-08-08T21:37:31.681Z,1754689051.681 [DAT](INFO): publishing direction and range info
2025-08-08T21:37:31.689Z,1754689051.689 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=40.098522
2025-08-08T21:37:31.792Z,1754689051.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.500000 m,
      deltaT: 0.503204 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-08T21:37:31.810Z,1754689051.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.500000 m,
      bearing: 199.859601 deg,
      lat: 36.906032 deg,
      lon: -122.115848 deg,
      deltaT: 0.503204 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-08T21:37:31.921Z,1754689051.921 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=40.331055
2025-08-08T21:37:32.163Z,1754689052.163 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-08T21:37:32.174Z,1754689052.174 [DAT](INFO): DAT read: Rx Time:21:37:31.6331 

2025-08-08T21:37:32.174Z,1754689052.174 [DAT](INFO): Rx dataTimestamp_ set to:1754689052.173702
2025-08-08T21:37:32.175Z,1754689052.175 [DAT](INFO): DAT read: Bearing 354.4,   9.2 (Local)

2025-08-08T21:37:32.176Z,1754689052.176 [DAT](INFO): Local bearing/azimuth received:
 Bearing 354.4,   9.2 (Local)

2025-08-08T21:37:32.178Z,1754689052.178 [DAT](INFO): DAT read: Range 11 to 50 :     0.6 m (trip time 0.4 ms) speed 0.0

2025-08-08T21:37:32.182Z,1754689052.182 [DAT](INFO): DAT read: 21:37:31.6331 LVL= 29104, 23793, 32754, 32755, AGC= 35, IDX= 503,-0.02,-0.946, 0.806,-1.447, 0.215, PHS=-1.059, 0.637,-1.706, RAW= 345.5,  19.7, CAL= 345.6,  24.3, ROT= 164.4, -24.3

2025-08-08T21:37:32.183Z,1754689052.183 [DAT](INFO): got valid direction response:
 21:37:31.6331 LVL= 29104, 23793, 32754, 32755, AGC= 35, IDX= 503,-0.02,-0.946, 0.806,-1.447, 0.215, PHS=-1.059, 0.637,-1.706, RAW= 345.5,  19.7, CAL= 345.6,  24.3, ROT= 164.4, -24.3

2025-08-08T21:37:32.192Z,1754689052.192 [DAT](INFO): #Rx 83: Read range and direction messages.
2025-08-08T21:37:32.193Z,1754689052.193 [DAT](INFO): direction in FSK: [-0.877829,0.245095,0.411514]
2025-08-08T21:37:32.193Z,1754689052.193 [DAT](INFO): publishing direction and range info
2025-08-08T21:37:32.197Z,1754689052.197 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=40.606560
2025-08-08T21:37:32.220Z,1754689052.220 [DockingStepper](INFO): Changing to mode: 1
2025-08-08T21:37:32.426Z,1754689052.426 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=40.835579
2025-08-08T21:37:32.656Z,1754689052.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.600000 m,
      deltaT: 0.504062 s,
      deltaX: 0.100000 m,
      approachRate: 0.198388 m/s,
      rangeRepo size: 4

2025-08-08T21:37:32.658Z,1754689052.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.600000 m,
      bearing: 202.004318 deg,
      lat: 36.906031 deg,
      lon: -122.115849 deg,
      deltaT: 0.504062 s,
      deltaX: 0.100000 m,
      approachRate: 0.198388 m/s,
      posRepo size: 4

2025-08-08T21:37:32.678Z,1754689052.678 [DAT](INFO): DAT read: Rx Time:21:37:32.1330 

2025-08-08T21:37:32.678Z,1754689052.678 [DAT](INFO): Rx dataTimestamp_ set to:1754689052.677754
2025-08-08T21:37:32.679Z,1754689052.679 [DAT](INFO): DAT read: Bearing 355.1,   7.9 (Local)

2025-08-08T21:37:32.680Z,1754689052.680 [DAT](INFO): Local bearing/azimuth received:
 Bearing 355.1,   7.9 (Local)

2025-08-08T21:37:32.682Z,1754689052.682 [DAT](INFO): DAT read: Range 11 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-08-08T21:37:32.686Z,1754689052.686 [DAT](INFO): DAT read: 21:37:32.1330 LVL= 31392, 22241, 32754, 32755, AGC= 34, IDX= 502, 0.03,-0.864, 0.939,-1.301, 0.317, PHS=-1.078, 0.667,-1.662, RAW= 343.9,  19.2, CAL= 344.1,  23.8, ROT= 165.9, -23.8

2025-08-08T21:37:32.687Z,1754689052.687 [DAT](INFO): got valid direction response:
 21:37:32.1330 LVL= 31392, 22241, 32754, 32755, AGC= 34, IDX= 502, 0.03,-0.864, 0.939,-1.301, 0.317, PHS=-1.078, 0.667,-1.662, RAW= 343.9,  19.2, CAL= 344.1,  23.8, ROT= 165.9, -23.8

2025-08-08T21:37:32.688Z,1754689052.688 [DAT](INFO): #Rx 84: Read range and direction messages.
2025-08-08T21:37:32.689Z,1754689052.689 [DAT](INFO): direction in FSK: [-0.887394,0.222898,0.403545]
2025-08-08T21:37:32.689Z,1754689052.689 [DAT](INFO): publishing direction and range info
2025-08-08T21:37:32.694Z,1754689052.694 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=41.104137
2025-08-08T21:37:32.929Z,1754689052.929 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=41.338806
2025-08-08T21:37:32.994Z,1754689052.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.500000 m,
      deltaT: 0.504052 s,
      deltaX: -0.100000 m,
      approachRate: -0.198392 m/s,
      rangeRepo size: 4

2025-08-08T21:37:33.009Z,1754689053.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.500000 m,
      bearing: 202.807171 deg,
      lat: 36.906032 deg,
      lon: -122.115849 deg,
      deltaT: 0.504052 s,
      deltaX: -0.100000 m,
      approachRate: -0.198392 m/s,
      posRepo size: 4

2025-08-08T21:37:33.181Z,1754689053.181 [DAT](INFO): DAT read: Rx Time:21:37:32.6330 

2025-08-08T21:37:33.182Z,1754689053.182 [DAT](INFO): Rx dataTimestamp_ set to:1754689053.181254
2025-08-08T21:37:33.183Z,1754689053.183 [DAT](INFO): DAT read: Range 11 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-08-08T21:37:33.183Z,1754689053.183 [DAT](ERROR): #Rx 85: Read range message, but no direction.
2025-08-08T21:37:33.184Z,1754689053.184 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=41.594311
2025-08-08T21:37:33.433Z,1754689053.433 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=41.842793
2025-08-08T21:37:33.456Z,1754689053.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.500000 m,
      deltaT: 0.503500 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-08T21:37:33.685Z,1754689053.685 [DAT](INFO): DAT read: Rx Time:21:37:33.1330 

2025-08-08T21:37:33.685Z,1754689053.685 [DAT](INFO): Rx dataTimestamp_ set to:1754689053.685097
2025-08-08T21:37:33.687Z,1754689053.687 [DAT](INFO): DAT read: Range 11 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-08-08T21:37:33.687Z,1754689053.687 [DAT](ERROR): #Rx 86: Read range message, but no direction.
2025-08-08T21:37:33.689Z,1754689053.689 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=42.098602
2025-08-08T21:37:33.774Z,1754689053.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.500000 m,
      deltaT: 0.503843 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-08T21:37:33.937Z,1754689053.937 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=42.347134
2025-08-08T21:37:34.167Z,1754689054.167 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-08T21:37:34.189Z,1754689054.189 [DAT](INFO): DAT read: Rx Time:21:37:33.6331 

2025-08-08T21:37:34.189Z,1754689054.189 [DAT](INFO): Rx dataTimestamp_ set to:1754689054.189227
2025-08-08T21:37:34.191Z,1754689054.191 [DAT](INFO): DAT read: Range 11 to 50 :     0.6 m (trip time 0.4 ms) speed 0.0

2025-08-08T21:37:34.191Z,1754689054.191 [DAT](ERROR): #Rx 87: Read range message, but no direction.
2025-08-08T21:37:34.192Z,1754689054.192 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=42.602295
2025-08-08T21:37:34.446Z,1754689054.446 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=42.855640
2025-08-08T21:37:34.627Z,1754689054.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.600000 m,
      deltaT: 0.504130 s,
      deltaX: 0.100000 m,
      approachRate: 0.198362 m/s,
      rangeRepo size: 4

2025-08-08T21:37:34.694Z,1754689054.694 [DAT](INFO): DAT read: Rx Time:21:37:34.1330 

2025-08-08T21:37:34.695Z,1754689054.695 [DAT](INFO): Rx dataTimestamp_ set to:1754689054.694233
2025-08-08T21:37:34.696Z,1754689054.696 [DAT](INFO): DAT read: Range 11 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-08-08T21:37:34.697Z,1754689054.697 [DAT](ERROR): #Rx 88: Read range message, but no direction.
2025-08-08T21:37:34.699Z,1754689054.699 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=43.108669
2025-08-08T21:37:34.945Z,1754689054.945 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=43.354847
2025-08-08T21:37:34.994Z,1754689054.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.500000 m,
      deltaT: 0.505006 s,
      deltaX: -0.100000 m,
      approachRate: -0.198017 m/s,
      rangeRepo size: 4

2025-08-08T21:37:35.199Z,1754689055.199 [DAT](INFO): DAT read: Rx Time:21:37:34.6331 

2025-08-08T21:37:35.199Z,1754689055.199 [DAT](INFO): Rx dataTimestamp_ set to:1754689055.198853
2025-08-08T21:37:35.201Z,1754689055.201 [DAT](INFO): DAT read: Bearing 328.6,  30.9 (Local)

2025-08-08T21:37:35.202Z,1754689055.202 [DAT](INFO): Local bearing/azimuth received:
 Bearing 328.6,  30.9 (Local)

2025-08-08T21:37:35.204Z,1754689055.204 [DAT](INFO): DAT read: Range 11 to 50 :     0.6 m (trip time 0.4 ms) speed 0.0

2025-08-08T21:37:35.209Z,1754689055.209 [DAT](INFO): DAT read: 21:37:34.6331 LVL= 31088, 24625, 26322, 29171, AGC= 34, IDX= 503, 0.50,-2.908,-2.474, 2.309,-1.947, PHS=-0.859,-0.482,-2.071, RAW=  16.9,  40.0, CAL=  15.3,  45.4, ROT= 134.7, -45.4

2025-08-08T21:37:35.210Z,1754689055.210 [DAT](INFO): got valid direction response:
 21:37:34.6331 LVL= 31088, 24625, 26322, 29171, AGC= 34, IDX= 503, 0.50,-2.908,-2.474, 2.309,-1.947, PHS=-0.859,-0.482,-2.071, RAW=  16.9,  40.0, CAL=  15.3,  45.4, ROT= 134.7, -45.4

2025-08-08T21:37:35.210Z,1754689055.210 [DAT](INFO): #Rx 89: Read range and direction messages.
2025-08-08T21:37:35.211Z,1754689055.211 [DAT](INFO): direction in FSK: [-0.493891,0.499090,0.712026]
2025-08-08T21:37:35.211Z,1754689055.211 [DAT](INFO): publishing direction and range info
2025-08-08T21:37:35.215Z,1754689055.215 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=43.625076
2025-08-08T21:37:35.449Z,1754689055.449 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=43.858936
2025-08-08T21:37:35.479Z,1754689055.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.600000 m,
      deltaT: 0.504620 s,
      deltaX: 0.100000 m,
      approachRate: 0.198169 m/s,
      rangeRepo size: 4

2025-08-08T21:37:35.481Z,1754689055.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.600000 m,
      bearing: 205.989357 deg,
      lat: 36.906032 deg,
      lon: -122.115849 deg,
      deltaT: 2.521099 s,
      deltaX: 0.100000 m,
      approachRate: 0.039665 m/s,
      posRepo size: 4

2025-08-08T21:37:35.705Z,1754689055.705 [DAT](INFO): DAT read: Rx Time:21:37:35.1331 

2025-08-08T21:37:35.707Z,1754689055.707 [DAT](INFO): Rx dataTimestamp_ set to:1754689055.706206
2025-08-08T21:37:35.708Z,1754689055.708 [DAT](INFO): DAT read: Bearing 302.0,  39.4 (Local)

2025-08-08T21:37:35.709Z,1754689055.709 [DAT](INFO): Local bearing/azimuth received:
 Bearing 302.0,  39.4 (Local)

2025-08-08T21:37:35.711Z,1754689055.711 [DAT](INFO): DAT read: Range 11 to 50 :     0.6 m (trip time 0.4 ms) speed 0.0

2025-08-08T21:37:35.721Z,1754689055.721 [DAT](INFO): DAT read: 21:37:35.1331 LVL= 31440, 23601, 25170, 26739, AGC= 34, IDX= 503,-0.15,-0.921,-1.380,-2.145,-0.139, PHS=-0.680,-1.196,-2.050, RAW=  51.9,  49.2, CAL=  49.3,  53.8, ROT= 100.7, -53.8

2025-08-08T21:37:35.723Z,1754689055.723 [DAT](INFO): got valid direction response:
 21:37:35.1331 LVL= 31440, 23601, 25170, 26739, AGC= 34, IDX= 503,-0.15,-0.921,-1.380,-2.145,-0.139, PHS=-0.680,-1.196,-2.050, RAW=  51.9,  49.2, CAL=  49.3,  53.8, ROT= 100.7, -53.8

2025-08-08T21:37:35.723Z,1754689055.723 [DAT](INFO): #Rx 90: Read range and direction messages.
2025-08-08T21:37:35.725Z,1754689055.725 [DAT](INFO): direction in FSK: [-0.109656,0.580337,0.806960]
2025-08-08T21:37:35.726Z,1754689055.726 [DAT](INFO): publishing direction and range info
2025-08-08T21:37:35.732Z,1754689055.732 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=44.141472
2025-08-08T21:37:35.881Z,1754689055.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.600000 m,
      deltaT: 0.507353 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-08T21:37:35.883Z,1754689055.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.600000 m,
      bearing: 209.755304 deg,
      lat: 36.906032 deg,
      lon: -122.115849 deg,
      deltaT: 0.507353 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-08T21:37:35.954Z,1754689055.954 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=44.363899
2025-08-08T21:37:36.205Z,1754689056.205 [DAT](INFO): DAT read: Rx Time:21:37:35.6331 

2025-08-08T21:37:36.205Z,1754689056.205 [DAT](INFO): Rx dataTimestamp_ set to:1754689056.205219
2025-08-08T21:37:36.207Z,1754689056.207 [DAT](INFO): DAT read: Range 11 to 50 :     0.6 m (trip time 0.4 ms) speed 0.0

2025-08-08T21:37:36.207Z,1754689056.207 [DAT](ERROR): #Rx 91: Read range message, but no direction.
2025-08-08T21:37:36.208Z,1754689056.208 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=44.618275
2025-08-08T21:37:36.295Z,1754689056.295 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-08T21:37:36.302Z,1754689056.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.600000 m,
      deltaT: 0.499013 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-08T21:37:36.457Z,1754689056.457 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=44.866959
2025-08-08T21:37:36.710Z,1754689056.710 [DAT](INFO): DAT read: Rx Time:21:37:36.1330 

2025-08-08T21:37:36.710Z,1754689056.710 [DAT](INFO): Rx dataTimestamp_ set to:1754689056.709686
2025-08-08T21:37:36.711Z,1754689056.711 [DAT](INFO): DAT read: Bearing 300.7,  24.3 (Local)

2025-08-08T21:37:36.712Z,1754689056.712 [DAT](INFO): Local bearing/azimuth received:
 Bearing 300.7,  24.3 (Local)

2025-08-08T21:37:36.714Z,1754689056.714 [DAT](INFO): DAT read: Range 11 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-08-08T21:37:36.718Z,1754689056.718 [DAT](INFO): DAT read: 21:37:36.1330 LVL= 27184, 20561, 29730, 30771, AGC= 33, IDX= 500, 0.25,-2.316,-2.600, 3.086,-1.221, PHS=-0.993,-1.334,-2.020, RAW=  49.0,  59.5, CAL=  47.2,  63.0, ROT= 102.8, -63.0

2025-08-08T21:37:36.719Z,1754689056.719 [DAT](INFO): got valid direction response:
 21:37:36.1330 LVL= 27184, 20561, 29730, 30771, AGC= 33, IDX= 500, 0.25,-2.316,-2.600, 3.086,-1.221, PHS=-0.993,-1.334,-2.020, RAW=  49.0,  59.5, CAL=  47.2,  63.0, ROT= 102.8, -63.0

2025-08-08T21:37:36.720Z,1754689056.720 [DAT](INFO): #Rx 92: Read range and direction messages.
2025-08-08T21:37:36.721Z,1754689056.721 [DAT](INFO): direction in FSK: [-0.100581,0.442709,0.891007]
2025-08-08T21:37:36.721Z,1754689056.721 [DAT](INFO): publishing direction and range info
2025-08-08T21:37:36.725Z,1754689056.725 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=45.135197
2025-08-08T21:37:36.733Z,1754689056.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.500000 m,
      deltaT: 0.504467 s,
      deltaX: -0.100000 m,
      approachRate: -0.198229 m/s,
      rangeRepo size: 4

2025-08-08T21:37:36.735Z,1754689056.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.500000 m,
      bearing: 187.167266 deg,
      lat: 36.906032 deg,
      lon: -122.115846 deg,
      deltaT: 1.003480 s,
      deltaX: -0.100000 m,
      approachRate: -0.099653 m/s,
      posRepo size: 4

2025-08-08T21:37:36.964Z,1754689056.964 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=45.374130
2025-08-08T21:37:37.214Z,1754689057.214 [DAT](INFO): DAT read: Rx Time:21:37:36.6330 

2025-08-08T21:37:37.215Z,1754689057.215 [DAT](INFO): Rx dataTimestamp_ set to:1754689057.213915
2025-08-08T21:37:37.216Z,1754689057.216 [DAT](INFO): DAT read: Range 11 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-08-08T21:37:37.217Z,1754689057.217 [DAT](ERROR): #Rx 93: Read range message, but no direction.
2025-08-08T21:37:37.218Z,1754689057.218 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=45.627930
2025-08-08T21:37:37.469Z,1754689057.469 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=45.879086
2025-08-08T21:37:37.552Z,1754689057.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.500000 m,
      deltaT: 0.504229 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-08T21:37:37.721Z,1754689057.721 [DAT](INFO): DAT read: Rx Time:21:37:37.1329 

2025-08-08T21:37:37.722Z,1754689057.722 [DAT](INFO): Rx dataTimestamp_ set to:1754689057.721275
2025-08-08T21:37:37.723Z,1754689057.723 [DAT](INFO): DAT read: Range 11 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2025-08-08T21:37:37.723Z,1754689057.723 [DAT](ERROR): #Rx 94: Read range message, but no direction.
2025-08-08T21:37:37.724Z,1754689057.724 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=46.134357
2025-08-08T21:37:37.973Z,1754689057.973 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=46.382999
2025-08-08T21:37:38.002Z,1754689058.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.300000 m,
      deltaT: 0.507360 s,
      deltaX: -0.200000 m,
      approachRate: -0.394197 m/s,
      rangeRepo size: 4

2025-08-08T21:37:38.225Z,1754689058.225 [DAT](INFO): DAT read: Rx Time:21:37:37.6330 

2025-08-08T21:37:38.225Z,1754689058.225 [DAT](INFO): Rx dataTimestamp_ set to:1754689058.225186
2025-08-08T21:37:38.227Z,1754689058.227 [DAT](INFO): DAT read: Range 11 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-08-08T21:37:38.227Z,1754689058.227 [DAT](ERROR): #Rx 95: Read range message, but no direction.
2025-08-08T21:37:38.228Z,1754689058.228 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=46.638283
2025-08-08T21:37:38.390Z,1754689058.390 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-08T21:37:38.394Z,1754689058.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.500000 m,
      deltaT: 0.503911 s,
      deltaX: 0.200000 m,
      approachRate: 0.396895 m/s,
      rangeRepo size: 4

2025-08-08T21:37:38.477Z,1754689058.477 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=46.886921
2025-08-08T21:37:38.730Z,1754689058.730 [DAT](INFO): DAT read: Rx Time:21:37:38.1330 

2025-08-08T21:37:38.730Z,1754689058.730 [DAT](INFO): Rx dataTimestamp_ set to:1754689058.730024
2025-08-08T21:37:38.731Z,1754689058.731 [DAT](INFO): DAT read: Range 11 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-08-08T21:37:38.732Z,1754689058.732 [DAT](ERROR): #Rx 96: Read range message, but no direction.
2025-08-08T21:37:38.734Z,1754689058.734 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=47.143749
2025-08-08T21:37:38.877Z,1754689058.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.500000 m,
      deltaT: 0.504838 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-08T21:37:38.981Z,1754689058.981 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=47.390827
2025-08-08T21:37:39.233Z,1754689059.233 [DAT](INFO): DAT read: Rx Time:21:37:38.6331 

2025-08-08T21:37:39.233Z,1754689059.233 [DAT](INFO): Rx dataTimestamp_ set to:1754689059.233107
2025-08-08T21:37:39.235Z,1754689059.235 [DAT](INFO): DAT read: Range 11 to 50 :     0.6 m (trip time 0.4 ms) speed 0.0

2025-08-08T21:37:39.235Z,1754689059.235 [DAT](ERROR): #Rx 97: Read range message, but no direction.
2025-08-08T21:37:39.236Z,1754689059.236 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=47.646156
2025-08-08T21:37:39.375Z,1754689059.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.600000 m,
      deltaT: 0.503083 s,
      deltaX: 0.100000 m,
      approachRate: 0.198774 m/s,
      rangeRepo size: 4

2025-08-08T21:37:39.486Z,1754689059.486 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=47.896122
2025-08-08T21:37:39.737Z,1754689059.737 [DAT](INFO): DAT read: Rx Time:21:37:39.1330 

2025-08-08T21:37:39.737Z,1754689059.737 [DAT](INFO): Rx dataTimestamp_ set to:1754689059.737192
2025-08-08T21:37:39.739Z,1754689059.739 [DAT](INFO): DAT read: Range 11 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-08-08T21:37:39.739Z,1754689059.739 [DAT](ERROR): #Rx 98: Read range message, but no direction.
2025-08-08T21:37:39.740Z,1754689059.740 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=48.150269
2025-08-08T21:37:39.797Z,1754689059.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.500000 m,
      deltaT: 0.504085 s,
      deltaX: -0.100000 m,
      approachRate: -0.198379 m/s,
      rangeRepo size: 4

2025-08-08T21:37:39.990Z,1754689059.990 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=48.399284
2025-08-08T21:37:40.242Z,1754689060.242 [DAT](INFO): DAT read: Rx Time:21:37:39.6331 

2025-08-08T21:37:40.243Z,1754689060.243 [DAT](INFO): Rx dataTimestamp_ set to:1754689060.242525
2025-08-08T21:37:40.245Z,1754689060.245 [DAT](INFO): DAT read: Range 11 to 50 :     0.6 m (trip time 0.4 ms) speed 0.0

2025-08-08T21:37:40.246Z,1754689060.246 [DAT](ERROR): #Rx 99: Read range message, but no direction.
2025-08-08T21:37:40.247Z,1754689060.247 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=48.656925
2025-08-08T21:37:40.495Z,1754689060.495 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=48.904610
2025-08-08T21:37:40.611Z,1754689060.611 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-08T21:37:40.634Z,1754689060.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.600000 m,
      deltaT: 0.505333 s,
      deltaX: 0.100000 m,
      approachRate: 0.197889 m/s,
      rangeRepo size: 4

2025-08-08T21:37:40.745Z,1754689060.745 [DAT](INFO): DAT read: Rx Time:21:37:40.1330 

2025-08-08T21:37:40.745Z,1754689060.745 [DAT](INFO): Rx dataTimestamp_ set to:1754689060.745161
2025-08-08T21:37:40.747Z,1754689060.747 [DAT](INFO): DAT read: Range 11 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-08-08T21:37:40.748Z,1754689060.748 [DAT](ERROR): #Rx 100: Read range message, but no direction.
2025-08-08T21:37:40.750Z,1754689060.750 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=49.159538
2025-08-08T21:37:40.997Z,1754689060.997 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=49.406960
2025-08-08T21:37:41.012Z,1754689061.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.500000 m,
      deltaT: 0.502636 s,
      deltaX: -0.100000 m,
      approachRate: -0.198951 m/s,
      rangeRepo size: 4

2025-08-08T21:37:41.116Z,1754689061.116 [DockingStepper](FAULT): Timed out moving from: 12303 to: 14700 response: ÿ
2025-08-08T21:37:41.116Z,1754689061.116 [DockingStepper] Hardware Fault, FailCount= 1
2025-08-08T21:37:41.116Z,1754689061.116 [DockingStepper](ERROR): Hardware Fault
2025-08-08T21:37:41.251Z,1754689061.251 [DAT](INFO): DAT read: Rx Time:21:37:40.6330 

2025-08-08T21:37:41.252Z,1754689061.252 [DAT](INFO): Rx dataTimestamp_ set to:1754689061.251307
2025-08-08T21:37:41.254Z,1754689061.254 [DAT](INFO): DAT read: Range 11 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-08-08T21:37:41.255Z,1754689061.255 [DAT](ERROR): #Rx 101: Read range message, but no direction.
2025-08-08T21:37:41.256Z,1754689061.256 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=49.665943
2025-08-08T21:37:41.332Z,1754689061.332 [CBIT](ERROR): Hardware Fault in component: DockingStepper
2025-08-08T21:37:41.389Z,1754689061.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.500000 m,
      deltaT: 0.506146 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-08T21:37:41.419Z,1754689061.419 [DockingStepper](DEBUG): Uninitialize Docking Stepper.
2025-08-08T21:37:41.419Z,1754689061.419 [DockingStepper](INFO): Powering down
2025-08-08T21:37:41.501Z,1754689061.501 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=49.911255
2025-08-08T21:37:41.753Z,1754689061.753 [DAT](INFO): DAT read: Rx Time:21:37:41.1329 

2025-08-08T21:37:41.753Z,1754689061.753 [DAT](INFO): Rx dataTimestamp_ set to:1754689061.753194
2025-08-08T21:37:41.755Z,1754689061.755 [DAT](INFO): DAT read: Range 11 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2025-08-08T21:37:41.755Z,1754689061.755 [DAT](ERROR): #Rx 102: Read range message, but no direction.
2025-08-08T21:37:41.756Z,1754689061.756 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=50.166256
2025-08-08T21:37:41.889Z,1754689061.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.300000 m,
      deltaT: 0.501887 s,
      deltaX: -0.200000 m,
      approachRate: -0.398496 m/s,
      rangeRepo size: 4

2025-08-08T21:37:42.005Z,1754689062.005 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=50.414803
2025-08-08T21:37:42.258Z,1754689062.258 [DAT](INFO): DAT read: Rx Time:21:37:41.6330 

2025-08-08T21:37:42.259Z,1754689062.259 [DAT](INFO): Rx dataTimestamp_ set to:1754689062.258578
2025-08-08T21:37:42.262Z,1754689062.262 [DAT](INFO): DAT read: Range 11 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-08-08T21:37:42.263Z,1754689062.263 [DAT](ERROR): #Rx 103: Read range message, but no direction.
2025-08-08T21:37:42.266Z,1754689062.266 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=50.675209
2025-08-08T21:37:42.515Z,1754689062.515 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=50.924351
2025-08-08T21:37:42.660Z,1754689062.660 [RDI_Pathfinder](ERROR): DVL uart error: serial timeout
2025-08-08T21:37:42.660Z,1754689062.660 [RDI_Pathfinder] Communications Fault, FailCount= 1
2025-08-08T21:37:42.660Z,1754689062.660 [RDI_Pathfinder](ERROR): Communications Fault
2025-08-08T21:37:42.718Z,1754689062.718 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-08T21:37:42.729Z,1754689062.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.500000 m,
      deltaT: 0.505384 s,
      deltaX: 0.200000 m,
      approachRate: 0.395739 m/s,
      rangeRepo size: 4

2025-08-08T21:37:42.763Z,1754689062.763 [DAT](INFO): DAT read: Rx Time:21:37:42.1329 

2025-08-08T21:37:42.764Z,1754689062.764 [DAT](INFO): Rx dataTimestamp_ set to:1754689062.763435
2025-08-08T21:37:42.766Z,1754689062.766 [DAT](INFO): DAT read: Range 11 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2025-08-08T21:37:42.768Z,1754689062.768 [DAT](ERROR): #Rx 104: Read range message, but no direction.
2025-08-08T21:37:42.770Z,1754689062.770 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=51.179691
2025-08-08T21:37:43.014Z,1754689063.014 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=51.423790
2025-08-08T21:37:43.043Z,1754689063.043 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder
2025-08-08T21:37:43.091Z,1754689063.091 [RDI_Pathfinder](INFO): Powering down
2025-08-08T21:37:43.137Z,1754689063.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.300000 m,
      deltaT: 0.504857 s,
      deltaX: -0.200000 m,
      approachRate: -0.396152 m/s,
      rangeRepo size: 4

2025-08-08T21:37:43.266Z,1754689063.266 [DAT](INFO): DAT read: Rx Time:21:37:42.6331 

2025-08-08T21:37:43.267Z,1754689063.267 [DAT](INFO): Rx dataTimestamp_ set to:1754689063.266129
2025-08-08T21:37:43.269Z,1754689063.269 [DAT](INFO): DAT read: Range 11 to 50 :     0.6 m (trip time 0.4 ms) speed 0.0

2025-08-08T21:37:43.270Z,1754689063.270 [DAT](ERROR): #Rx 105: Read range message, but no direction.
2025-08-08T21:37:43.277Z,1754689063.277 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=51.681568
2025-08-08T21:37:43.517Z,1754689063.517 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=51.926830
2025-08-08T21:37:43.556Z,1754689063.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.600000 m,
      deltaT: 0.502694 s,
      deltaX: 0.300000 m,
      approachRate: 0.596785 m/s,
      rangeRepo size: 4

2025-08-08T21:37:43.771Z,1754689063.771 [DAT](INFO): DAT read: Rx Time:21:37:43.1330 

2025-08-08T21:37:43.772Z,1754689063.772 [DAT](INFO): Rx dataTimestamp_ set to:1754689063.771334
2025-08-08T21:37:43.774Z,1754689063.774 [DAT](INFO): DAT read: Bearing 343.2,  17.4 (Local)

2025-08-08T21:37:43.775Z,1754689063.775 [DAT](INFO): Local bearing/azimuth received:
 Bearing 343.2,  17.4 (Local)

2025-08-08T21:37:43.778Z,1754689063.778 [DAT](INFO): DAT read: Range 11 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-08-08T21:37:43.786Z,1754689063.786 [DAT](INFO): DAT read: 21:37:43.1330 LVL= 29136, 19281, 24306, 31027, AGC= 31, IDX= 503,-0.18, 2.038,-2.839, 1.293,-2.958, PHS=-1.185, 0.165,-2.076, RAW= 353.2,  29.3, CAL= 352.2,  34.3, ROT= 157.8, -34.3

2025-08-08T21:37:43.789Z,1754689063.789 [DAT](INFO): got valid direction response:
 21:37:43.1330 LVL= 29136, 19281, 24306, 31027, AGC= 31, IDX= 503,-0.18, 2.038,-2.839, 1.293,-2.958, PHS=-1.185, 0.165,-2.076, RAW= 353.2,  29.3, CAL= 352.2,  34.3, ROT= 157.8, -34.3

2025-08-08T21:37:43.789Z,1754689063.789 [DAT](INFO): #Rx 106: Read range and direction messages.
2025-08-08T21:37:43.790Z,1754689063.790 [DAT](INFO): direction in FSK: [-0.764860,0.312134,0.563526]
2025-08-08T21:37:43.790Z,1754689063.790 [DAT](INFO): publishing direction and range info
2025-08-08T21:37:43.794Z,1754689063.794 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=52.203865
2025-08-08T21:37:43.950Z,1754689063.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.500000 m,
      deltaT: 0.505205 s,
      deltaX: -0.100000 m,
      approachRate: -0.197940 m/s,
      rangeRepo size: 4

2025-08-08T21:37:43.953Z,1754689063.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.500000 m,
      bearing: 153.846383 deg,
      lat: 36.906032 deg,
      lon: -122.115846 deg,
      deltaT: 7.061648 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-08T21:37:44.021Z,1754689064.021 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=52.431065
2025-08-08T21:37:44.179Z,1754689064.179 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder
2025-08-08T21:37:44.179Z,1754689064.179 [RDI_Pathfinder] No Fault, FailCount= 1
2025-08-08T21:37:44.274Z,1754689064.274 [DAT](INFO): DAT read: Rx Time:21:37:43.6331 

2025-08-08T21:37:44.275Z,1754689064.275 [DAT](INFO): Rx dataTimestamp_ set to:1754689064.274341
2025-08-08T21:37:44.277Z,1754689064.277 [DAT](INFO): DAT read: Range 11 to 50 :     0.6 m (trip time 0.4 ms) speed 0.0

2025-08-08T21:37:44.278Z,1754689064.278 [DAT](ERROR): #Rx 107: Read range message, but no direction.
2025-08-08T21:37:44.279Z,1754689064.279 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=52.688881
2025-08-08T21:37:44.357Z,1754689064.357 [RDI_Pathfinder](IMPORTANT): Expecting PD13 message format
2025-08-08T21:37:44.386Z,1754689064.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.600000 m,
      deltaT: 0.503007 s,
      deltaX: 0.100000 m,
      approachRate: 0.198804 m/s,
      rangeRepo size: 4

2025-08-08T21:37:44.525Z,1754689064.525 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=52.934845
2025-08-08T21:37:44.756Z,1754689064.756 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-08T21:37:44.778Z,1754689064.778 [DAT](INFO): DAT read: Rx Time:21:37:44.1330 

2025-08-08T21:37:44.779Z,1754689064.779 [DAT](INFO): Rx dataTimestamp_ set to:1754689064.778287
2025-08-08T21:37:44.781Z,1754689064.781 [DAT](INFO): DAT read: Range 11 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-08-08T21:37:44.782Z,1754689064.782 [DAT](ERROR): #Rx 108: Read range message, but no direction.
2025-08-08T21:37:44.784Z,1754689064.784 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=53.194031
2025-08-08T21:37:45.029Z,1754689065.029 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=53.438744
2025-08-08T21:37:45.155Z,1754689065.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.500000 m,
      deltaT: 0.503946 s,
      deltaX: -0.100000 m,
      approachRate: -0.198434 m/s,
      rangeRepo size: 4

2025-08-08T21:37:45.283Z,1754689065.283 [DAT](INFO): DAT read: Rx Time:21:37:44.6330 

2025-08-08T21:37:45.283Z,1754689065.283 [DAT](INFO): Rx dataTimestamp_ set to:1754689065.283144
2025-08-08T21:37:45.286Z,1754689065.286 [DAT](INFO): DAT read: Range 11 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-08-08T21:37:45.287Z,1754689065.287 [DAT](ERROR): #Rx 109: Read range message, but no direction.
2025-08-08T21:37:45.292Z,1754689065.292 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=53.697655
2025-08-08T21:37:45.533Z,1754689065.533 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=53.942818
2025-08-08T21:37:45.586Z,1754689065.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.500000 m,
      deltaT: 0.504857 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-08T21:37:45.786Z,1754689065.786 [DAT](INFO): DAT read: Rx Time:21:37:45.1329 

2025-08-08T21:37:45.787Z,1754689065.787 [DAT](INFO): Rx dataTimestamp_ set to:1754689065.786374
2025-08-08T21:37:45.788Z,1754689065.788 [DAT](INFO): DAT read: Range 11 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2025-08-08T21:37:45.789Z,1754689065.789 [DAT](ERROR): #Rx 110: Read range message, but no direction.
2025-08-08T21:37:45.790Z,1754689065.790 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=54.199478
2025-08-08T21:37:45.983Z,1754689065.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.300000 m,
      deltaT: 0.503230 s,
      deltaX: -0.200000 m,
      approachRate: -0.397433 m/s,
      rangeRepo size: 4

2025-08-08T21:37:46.038Z,1754689066.038 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=54.447533
2025-08-08T21:37:46.289Z,1754689066.289 [DAT](INFO): DAT read: Rx Time:21:37:45.6331 

2025-08-08T21:37:46.290Z,1754689066.290 [DAT](INFO): Rx dataTimestamp_ set to:1754689066.289275
2025-08-08T21:37:46.291Z,1754689066.291 [DAT](INFO): DAT read: Range 11 to 50 :     0.6 m (trip time 0.4 ms) speed 0.0

2025-08-08T21:37:46.291Z,1754689066.291 [DAT](ERROR): #Rx 111: Read range message, but no direction.
2025-08-08T21:37:46.292Z,1754689066.292 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=54.702328
2025-08-08T21:37:46.398Z,1754689066.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.600000 m,
      deltaT: 0.502901 s,
      deltaX: 0.300000 m,
      approachRate: 0.596539 m/s,
      rangeRepo size: 4

2025-08-08T21:37:46.541Z,1754689066.541 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=54.950939
2025-08-08T21:37:46.791Z,1754689066.791 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-08T21:37:46.793Z,1754689066.793 [DAT](INFO): DAT read: Rx Time:21:37:46.1330 

2025-08-08T21:37:46.794Z,1754689066.794 [DAT](INFO): Rx dataTimestamp_ set to:1754689066.793291
2025-08-08T21:37:46.795Z,1754689066.795 [DAT](INFO): DAT read: Range 11 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-08-08T21:37:46.795Z,1754689066.795 [DAT](ERROR): #Rx 112: Read range message, but no direction.
2025-08-08T21:37:46.796Z,1754689066.796 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=55.206360
2025-08-08T21:37:46.814Z,1754689066.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.500000 m,
      deltaT: 0.504016 s,
      deltaX: -0.100000 m,
      approachRate: -0.198406 m/s,
      rangeRepo size: 4

2025-08-08T21:37:47.046Z,1754689067.046 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=55.455524
2025-08-08T21:37:47.297Z,1754689067.297 [DAT](INFO): DAT read: Rx Time:21:37:46.6331 

2025-08-08T21:37:47.297Z,1754689067.297 [DAT](INFO): Rx dataTimestamp_ set to:1754689067.297147
2025-08-08T21:37:47.299Z,1754689067.299 [DAT](INFO): DAT read: Range 11 to 50 :     0.6 m (trip time 0.4 ms) speed 0.0

2025-08-08T21:37:47.299Z,1754689067.299 [DAT](ERROR): #Rx 113: Read range message, but no direction.
2025-08-08T21:37:47.300Z,1754689067.300 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=55.710213
2025-08-08T21:37:47.549Z,1754689067.549 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=55.958920
2025-08-08T21:37:47.611Z,1754689067.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.600000 m,
      deltaT: 0.503856 s,
      deltaX: 0.100000 m,
      approachRate: 0.198469 m/s,
      rangeRepo size: 4

2025-08-08T21:37:47.802Z,1754689067.802 [DAT](INFO): DAT read: Rx Time:21:37:47.1330 

2025-08-08T21:37:47.803Z,1754689067.803 [DAT](INFO): Rx dataTimestamp_ set to:1754689067.802284
2025-08-08T21:37:47.805Z,1754689067.805 [DAT](INFO): DAT read: Range 11 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-08-08T21:37:47.806Z,1754689067.806 [DAT](ERROR): #Rx 114: Read range message, but no direction.
2025-08-08T21:37:47.807Z,1754689067.807 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=56.216587
2025-08-08T21:37:47.981Z,1754689067.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.500000 m,
      deltaT: 0.505137 s,
      deltaX: -0.100000 m,
      approachRate: -0.197966 m/s,
      rangeRepo size: 4

2025-08-08T21:37:48.053Z,1754689068.053 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=56.462952
2025-08-08T21:37:48.305Z,1754689068.305 [DAT](INFO): DAT read: Rx Time:21:37:47.6330 

2025-08-08T21:37:48.305Z,1754689068.305 [DAT](INFO): Rx dataTimestamp_ set to:1754689068.305144
2025-08-08T21:37:48.307Z,1754689068.307 [DAT](INFO): DAT read: Range 11 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-08-08T21:37:48.307Z,1754689068.307 [DAT](ERROR): #Rx 115: Read range message, but no direction.
2025-08-08T21:37:48.308Z,1754689068.308 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=56.718185
2025-08-08T21:37:48.399Z,1754689068.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.500000 m,
      deltaT: 0.502860 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-08T21:37:48.558Z,1754689068.558 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=56.967705
2025-08-08T21:37:48.809Z,1754689068.809 [DAT](INFO): DAT read: Rx Time:21:37:48.1329 

2025-08-08T21:37:48.810Z,1754689068.810 [DAT](INFO): Rx dataTimestamp_ set to:1754689068.809256
2025-08-08T21:37:48.811Z,1754689068.811 [DAT](INFO): DAT read: Range 11 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2025-08-08T21:37:48.811Z,1754689068.811 [DAT](ERROR): #Rx 116: Read range message, but no direction.
2025-08-08T21:37:48.812Z,1754689068.812 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=57.222332
2025-08-08T21:37:48.815Z,1754689068.815 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-08T21:37:48.818Z,1754689068.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.300000 m,
      deltaT: 0.504112 s,
      deltaX: -0.200000 m,
      approachRate: -0.396737 m/s,
      rangeRepo size: 4

2025-08-08T21:37:49.061Z,1754689069.061 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=57.470840
2025-08-08T21:37:49.313Z,1754689069.313 [DAT](INFO): DAT read: Rx Time:21:37:48.6330 

2025-08-08T21:37:49.314Z,1754689069.314 [DAT](INFO): Rx dataTimestamp_ set to:1754689069.313620
2025-08-08T21:37:49.317Z,1754689069.317 [DAT](INFO): DAT read: Bearing 337.0,   9.7 (Local)

2025-08-08T21:37:49.319Z,1754689069.319 [DAT](INFO): Local bearing/azimuth received:
 Bearing 337.0,   9.7 (Local)

2025-08-08T21:37:49.322Z,1754689069.322 [DAT](INFO): DAT read: Range 11 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-08-08T21:37:49.328Z,1754689069.328 [DAT](INFO): DAT read: 21:37:48.6330 LVL= 28320, 19105, 19858, 30595, AGC= 31, IDX= 503,-0.18,-2.321,-0.607,-2.678,-0.794, PHS=-1.425, 0.231,-1.928, RAW= 342.9,  29.4, CAL= 342.0,  34.4, ROT= 168.0, -34.4

2025-08-08T21:37:49.329Z,1754689069.329 [DAT](INFO): got valid direction response:
 21:37:48.6330 LVL= 28320, 19105, 19858, 30595, AGC= 31, IDX= 503,-0.18,-2.321,-0.607,-2.678,-0.794, PHS=-1.425, 0.231,-1.928, RAW= 342.9,  29.4, CAL= 342.0,  34.4, ROT= 168.0, -34.4

2025-08-08T21:37:49.329Z,1754689069.329 [DAT](INFO): #Rx 117: Read range and direction messages.
2025-08-08T21:37:49.330Z,1754689069.330 [DAT](INFO): direction in FSK: [-0.807083,0.171551,0.564967]
2025-08-08T21:37:49.330Z,1754689069.330 [DAT](INFO): publishing direction and range info
2025-08-08T21:37:49.357Z,1754689069.357 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=57.766636
2025-08-08T21:37:49.565Z,1754689069.565 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=57.974789
2025-08-08T21:37:49.677Z,1754689069.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.500000 m,
      deltaT: 0.504364 s,
      deltaX: 0.200000 m,
      approachRate: 0.396539 m/s,
      rangeRepo size: 4

2025-08-08T21:37:49.679Z,1754689069.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.500000 m,
      bearing: 156.644643 deg,
      lat: 36.906032 deg,
      lon: -122.115846 deg,
      deltaT: 5.542286 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-08T21:37:49.817Z,1754689069.817 [DAT](INFO): DAT read: Rx Time:21:37:49.1329 

2025-08-08T21:37:49.818Z,1754689069.818 [DAT](INFO): Rx dataTimestamp_ set to:1754689069.817599
2025-08-08T21:37:49.819Z,1754689069.819 [DAT](INFO): DAT read: Bearing 338.1,   9.0 (Local)

2025-08-08T21:37:49.819Z,1754689069.819 [DAT](INFO): Local bearing/azimuth received:
 Bearing 338.1,   9.0 (Local)

2025-08-08T21:37:49.822Z,1754689069.822 [DAT](INFO): DAT read: Range 11 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2025-08-08T21:37:49.827Z,1754689069.827 [DAT](INFO): DAT read: 21:37:49.1329 LVL= 28512, 19345, 19826, 30787, AGC= 31, IDX= 502,-0.09,-2.865,-1.115, 3.097,-1.335, PHS=-1.428, 0.264,-1.896, RAW= 341.9,  28.8, CAL= 341.1,  33.8, ROT= 168.9, -33.8

2025-08-08T21:37:49.829Z,1754689069.829 [DAT](INFO): got valid direction response:
 21:37:49.1329 LVL= 28512, 19345, 19826, 30787, AGC= 31, IDX= 502,-0.09,-2.865,-1.115, 3.097,-1.335, PHS=-1.428, 0.264,-1.896, RAW= 341.9,  28.8, CAL= 341.1,  33.8, ROT= 168.9, -33.8

2025-08-08T21:37:49.830Z,1754689069.830 [DAT](INFO): #Rx 118: Read range and direction messages.
2025-08-08T21:37:49.831Z,1754689069.831 [DAT](INFO): direction in FSK: [-0.815439,0.159983,0.556296]
2025-08-08T21:37:49.832Z,1754689069.832 [DAT](INFO): publishing direction and range info
2025-08-08T21:37:49.837Z,1754689069.837 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=58.246986
2025-08-08T21:37:50.039Z,1754689070.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.300000 m,
      deltaT: 0.503979 s,
      deltaX: -0.200000 m,
      approachRate: -0.396842 m/s,
      rangeRepo size: 4

2025-08-08T21:37:50.049Z,1754689070.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.300000 m,
      bearing: 201.607072 deg,
      lat: 36.906031 deg,
      lon: -122.115848 deg,
      deltaT: 0.503979 s,
      deltaX: -0.200000 m,
      approachRate: -0.396842 m/s,
      posRepo size: 4

2025-08-08T21:37:50.072Z,1754689070.072 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=58.481415
2025-08-08T21:37:50.321Z,1754689070.321 [DAT](INFO): DAT read: Rx Time:21:37:49.6330 

2025-08-08T21:37:50.321Z,1754689070.321 [DAT](INFO): Rx dataTimestamp_ set to:1754689070.321167
2025-08-08T21:37:50.323Z,1754689070.323 [DAT](INFO): DAT read: Range 11 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-08-08T21:37:50.323Z,1754689070.323 [DAT](ERROR): #Rx 119: Read range message, but no direction.
2025-08-08T21:37:50.324Z,1754689070.324 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=58.734222
2025-08-08T21:37:50.435Z,1754689070.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.500000 m,
      deltaT: 0.503568 s,
      deltaX: 0.200000 m,
      approachRate: 0.397166 m/s,
      rangeRepo size: 4

2025-08-08T21:37:50.581Z,1754689070.581 [DAT](INFO): DAT read: Rx Time:21:37:50.1329 

2025-08-08T21:37:50.582Z,1754689070.582 [DAT](INFO): Rx dataTimestamp_ set to:1754689070.580985
2025-08-08T21:37:50.584Z,1754689070.584 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=58.993256
2025-08-08T21:37:50.826Z,1754689070.826 [DAT](INFO): DAT read: Range 11 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2025-08-08T21:37:50.826Z,1754689070.826 [DAT](ERROR): #Rx 120: Read range message, but no direction.
2025-08-08T21:37:50.827Z,1754689070.827 [DAT](INFO): ****** received valid address query ******
2025-08-08T21:37:50.827Z,1754689070.828 [DAT](INFO): ****** received valid ping request ******
2025-08-08T21:37:50.828Z,1754689070.828 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-08T21:37:50.844Z,1754689070.844 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-08T21:37:50.852Z,1754689070.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.300000 m,
      deltaT: 0.503235 s,
      deltaX: -0.200000 m,
      approachRate: -0.397429 m/s,
      rangeRepo size: 4

2025-08-08T21:37:51.081Z,1754689071.081 [DAT](INFO): DAT read: Rx Time:21:37:50.6331 

2025-08-08T21:37:51.082Z,1754689071.082 [DAT](INFO): Rx dataTimestamp_ set to:1754689071.081354
2025-08-08T21:37:51.083Z,1754689071.083 [DAT](INFO): Reached modem response timeout
2025-08-08T21:37:51.084Z,1754689071.084 [DAT](DEBUG): Acoustic response timeout
2025-08-08T21:37:51.085Z,1754689071.085 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-08T21:37:51.330Z,1754689071.330 [DAT](INFO): DAT read: Range 11 to 50 :     0.6 m (trip time 0.4 ms) speed 0.0

2025-08-08T21:37:51.330Z,1754689071.330 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-08-08T21:37:51.331Z,1754689071.331 [DAT](DEBUG): Acoustic response timeout
2025-08-08T21:37:51.331Z,1754689071.331 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-08T21:37:51.584Z,1754689071.584 [DAT](INFO): DAT read: Rx Time:21:37:51.1330 

2025-08-08T21:37:51.585Z,1754689071.585 [DAT](INFO): Rx dataTimestamp_ set to:1754689071.584784
2025-08-08T21:37:51.586Z,1754689071.586 [DAT](INFO): DAT read: Range 11 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-08-08T21:37:51.587Z,1754689071.587 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-08-08T21:37:51.587Z,1754689071.587 [DAT](DEBUG): Acoustic response timeout
2025-08-08T21:37:51.592Z,1754689071.592 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-08T21:37:51.661Z,1754689071.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.500000 m,
      deltaT: 0.760382 s,
      deltaX: 0.200000 m,
      approachRate: 0.263026 m/s,
      rangeRepo size: 4

2025-08-08T21:37:51.833Z,1754689071.833 [DAT](INFO): Reached modem response timeout
2025-08-08T21:37:51.833Z,1754689071.833 [DAT](DEBUG): Acoustic response timeout
2025-08-08T21:37:51.834Z,1754689071.834 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-08T21:37:52.088Z,1754689072.088 [DAT](INFO): DAT read: Rx Time:21:37:51.6330 

2025-08-08T21:37:52.090Z,1754689072.090 [DAT](INFO): Rx dataTimestamp_ set to:1754689072.088960
2025-08-08T21:37:52.095Z,1754689072.095 [DAT](INFO): DAT read: Bearing 342.7,   7.3 (Local)

2025-08-08T21:37:52.098Z,1754689072.098 [DAT](INFO): Local bearing/azimuth received:
 Bearing 342.7,   7.3 (Local)

2025-08-08T21:37:52.109Z,1754689072.109 [DAT](INFO): DAT read: Range 11 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-08-08T21:37:52.111Z,1754689072.111 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-08-08T21:37:52.119Z,1754689072.119 [DAT](DEBUG): Acoustic response timeout
2025-08-08T21:37:52.125Z,1754689072.125 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-08T21:37:52.340Z,1754689072.340 [DAT](INFO): DAT read: 21:37:51.6330 LVL= 29120, 19089, 21570, 31587, AGC= 31, IDX= 503,-0.49,-2.986,-1.183, 3.074,-1.437, PHS=-1.448, 0.299,-1.817, RAW= 339.4,  28.2, CAL= 338.7,  33.2, RO= 11.3 -32

2025-08-08T21:37:52.342Z,1754689072.342 [DAT](INFO): unknown deviceResponse_: 21:37:51.6330 LVL= 29120, 19089, 21570, 31587, AGC= 31, IDX= 503,-0.49,-2.986,-1.183, 3.074,-1.437, PHS=-1.448, 0.299,-1.817, RAW= 339.4,  28.2, CAL= 338.7,  33.2, RO= 11.3 -32

2025-08-08T21:37:52.342Z,1754689072.342 [DAT](INFO): Reached modem response timeout
2025-08-08T21:37:52.342Z,1754689072.342 [DAT](DEBUG): Acoustic response timeout
2025-08-08T21:37:52.342Z,1754689072.342 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-08T21:37:52.507Z,1754689072.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.500000 m,
      deltaT: 0.504176 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-08T21:37:52.589Z,1754689072.589 [DAT](INFO): DAT read: Rx Time:21:37:52.1329 

2025-08-08T21:37:52.590Z,1754689072.590 [DAT](INFO): Rx dataTimestamp_ set to:1754689072.589247
2025-08-08T21:37:52.591Z,1754689072.591 [DAT](INFO): DAT read: Range 11 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2025-08-08T21:37:52.591Z,1754689072.591 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-08-08T21:37:52.592Z,1754689072.592 [DAT](DEBUG): Acoustic response timeout
2025-08-08T21:37:52.592Z,1754689072.592 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-08T21:37:52.841Z,1754689072.841 [DAT](INFO): Reached modem response timeout
2025-08-08T21:37:52.841Z,1754689072.841 [DAT](DEBUG): Acoustic response timeout
2025-08-08T21:37:52.842Z,1754689072.842 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-08T21:37:52.872Z,1754689072.872 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-08T21:37:52.875Z,1754689072.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.300000 m,
      deltaT: 0.500287 s,
      deltaX: -0.200000 m,
      approachRate: -0.399770 m/s,
      rangeRepo size: 4

2025-08-08T21:37:53.099Z,1754689073.099 [DAT](INFO): DAT read: Rx Time:21:37:52.6330 

2025-08-08T21:37:53.101Z,1754689073.101 [DAT](INFO): Rx dataTimestamp_ set to:1754689073.099426
2025-08-08T21:37:53.104Z,1754689073.104 [DAT](INFO): DAT read: Bearing 344.6,   6.7 (Local)

2025-08-08T21:37:53.105Z,1754689073.105 [DAT](INFO): Local bearing/azimuth received:
 Bearing 344.6,   6.7 (Local)

2025-08-08T21:37:53.132Z,1754689073.132 [DAT](INFO): DAT read: Range 11 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-08-08T21:37:53.137Z,1754689073.137 [DAT](INFO): DAT read: 21:37:52.6330 LVL= 29088, 19441, 22578, 31715, AGC= 31, IDX= 503,-0.20,-3.087,-1.256, 3.020,-1.526, PHS=-1.459, 0.315,-1.781, RAW= 338.2,  27.9, CAL= 337.6,  32.9, ROT= 172.4, -32.9

2025-08-08T21:37:53.138Z,1754689073.138 [DAT](INFO): got valid direction response:
 21:37:52.6330 LVL= 29088, 19441, 22578, 31715, AGC= 31, IDX= 503,-0.20,-3.087,-1.256, 3.020,-1.526, PHS=-1.459, 0.315,-1.781, RAW= 338.2,  27.9, CAL= 337.6,  32.9, ROT= 172.4, -32.9

2025-08-08T21:37:53.138Z,1754689073.138 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-08T21:37:53.139Z,1754689073.139 [DAT](INFO): direction in FSK: [-0.832244,0.111045,0.543174]
2025-08-08T21:37:53.140Z,1754689073.140 [DAT](INFO): publishing direction and range info
2025-08-08T21:37:53.179Z,1754689073.179 [DAT](DEBUG): Acoustic response timeout
2025-08-08T21:37:53.184Z,1754689073.184 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-08T21:37:53.345Z,1754689073.345 [DAT](INFO): Reached modem response timeout
2025-08-08T21:37:53.345Z,1754689073.345 [DAT](DEBUG): Acoustic response timeout
2025-08-08T21:37:53.345Z,1754689073.345 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-08T21:37:53.388Z,1754689073.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.500000 m,
      deltaT: 0.510179 s,
      deltaX: 0.200000 m,
      approachRate: 0.392019 m/s,
      rangeRepo size: 4

2025-08-08T21:37:53.391Z,1754689073.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.500000 m,
      bearing: 206.238811 deg,
      lat: 36.906030 deg,
      lon: -122.115849 deg,
      deltaT: 3.281827 s,
      deltaX: 0.200000 m,
      approachRate: 0.060942 m/s,
      posRepo size: 4

2025-08-08T21:37:53.601Z,1754689073.601 [DAT](INFO): DAT read: Rx Time:21:37:53.1329 

2025-08-08T21:37:53.603Z,1754689073.603 [DAT](INFO): Rx dataTimestamp_ set to:1754689073.601685
2025-08-08T21:37:53.606Z,1754689073.606 [DAT](INFO): DAT read: Bearing 344.9,   6.5 (Local)

2025-08-08T21:37:53.608Z,1754689073.608 [DAT](INFO): Local bearing/azimuth received:
 Bearing 344.9,   6.5 (Local)

2025-08-08T21:37:53.613Z,1754689073.613 [DAT](INFO): DAT read: Range 11 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2025-08-08T21:37:53.616Z,1754689073.616 [DAT](ERROR): #Rx 1: Read range message, but no direction.
2025-08-08T21:37:53.619Z,1754689073.619 [DAT](DEBUG): Acoustic response timeout
2025-08-08T21:37:53.628Z,1754689073.628 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-08T21:37:53.742Z,1754689073.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.300000 m,
      deltaT: 0.502259 s,
      deltaX: -0.200000 m,
      approachRate: -0.398201 m/s,
      rangeRepo size: 4

2025-08-08T21:37:53.849Z,1754689073.849 [DAT](INFO): Reached modem response timeout
2025-08-08T21:37:53.849Z,1754689073.849 [DAT](DEBUG): Acoustic response timeout
2025-08-08T21:37:53.850Z,1754689073.850 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-08T21:37:54.105Z,1754689074.105 [DAT](INFO): DAT read: 21:37:53.1329 LVL= 28960, 19345, 22882, 31779, AGC= 30, IDX= 502,-0.12, 2.068,-2.416, 1.921,-2.666, PHS=-1.448, 0.295,-1.741, RAW= 337.7,  28.2, CAL= 337.0,  33.3, ROT= 173.0, -33
user:1227>

2025-08-08T21:37:54.106Z,1754689074.106 [DAT](INFO): got valid direction response:
 21:37:53.1329 LVL= 28960, 19345, 22882, 31779, AGC= 30, IDX= 502,-0.12, 2.068,-2.416, 1.921,-2.666, PHS=-1.448, 0.295,-1.741, RAW= 337.7,  28.2, CAL= 337.0,  33.3, ROT= 173.0, -33
user:1227>

2025-08-08T21:37:54.106Z,1754689074.106 [DAT](INFO): #Rx 1: Read direction message, but no range.
2025-08-08T21:37:54.107Z,1754689074.107 [DAT](INFO): direction in FSK: [-0.832419,0.102208,0.544639]
2025-08-08T21:37:54.110Z,1754689074.110 [DAT](INFO): Reached modem response timeout
2025-08-08T21:37:54.110Z,1754689074.110 [DAT](DEBUG): Acoustic response timeout
2025-08-08T21:37:54.111Z,1754689074.111 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode.
2025-08-08T21:37:54.353Z,1754689074.353 [DAT](INFO): DAT read: 120

2025-08-08T21:37:54.353Z,1754689074.353 [DAT](INFO): unknown deviceResponse_: 120

2025-08-08T21:37:54.353Z,1754689074.353 [DAT](INFO): DAT read: Ok

2025-08-08T21:37:54.354Z,1754689074.354 [DAT](INFO): unknown deviceResponse_: Ok

2025-08-08T21:37:54.354Z,1754689074.354 [DAT](INFO): DAT read: user:1228>

2025-08-08T21:37:54.355Z,1754689074.355 [DAT](INFO): DAT read: Tx time:21:37:54.1530

2025-08-08T21:37:54.355Z,1754689074.355 [DAT](INFO): Ping request sent.
2025-08-08T21:37:54.355Z,1754689074.355 [DAT](INFO): transmitted an acoustic signal
2025-08-08T21:37:54.355Z,1754689074.355 [DAT](INFO): publishing transmit ping time
2025-08-08T21:37:54.356Z,1754689074.356 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000876
2025-08-08T21:37:54.605Z,1754689074.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249730
2025-08-08T21:37:54.861Z,1754689074.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505918
2025-08-08T21:37:54.942Z,1754689074.942 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-08T21:37:55.109Z,1754689075.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754058
2025-08-08T21:37:55.361Z,1754689075.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005712
2025-08-08T21:37:55.613Z,1754689075.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257713
2025-08-08T21:37:55.865Z,1754689075.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509855
2025-08-08T21:37:56.117Z,1754689076.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761763
2025-08-08T21:37:56.369Z,1754689076.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013714
2025-08-08T21:37:56.621Z,1754689076.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266159
2025-08-08T21:37:56.873Z,1754689076.873 [DAT](INFO): DAT read: Rx Time:21:37:56.2829 

2025-08-08T21:37:56.874Z,1754689076.874 [DAT](INFO): Rx dataTimestamp_ set to:1754689076.873634
2025-08-08T21:37:56.875Z,1754689076.875 [DAT](INFO): DAT read: Bearing 342.4,  10.9 (Local)

2025-08-08T21:37:56.876Z,1754689076.876 [DAT](INFO): Local bearing/azimuth received:
 Bearing 342.4,  10.9 (Local)

2025-08-08T21:37:56.878Z,1754689076.878 [DAT](INFO): DAT read: Range 11 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-08-08T21:37:56.882Z,1754689076.882 [DAT](INFO): DAT read: 21:37:56.2829 LVL= 24992, 16241, 19682, 27491, AGC= 30, IDX= 470,-0.18, 0.256, 2.000,-0.046, 1.784, PHS=-1.426, 0.262,-1.873, RAW= 341.5,  28.8, CAL= 340.7,  33.8, ROT= 169.3, -33.8

2025-08-08T21:37:56.883Z,1754689076.883 [DAT](INFO): got valid direction response:
 21:37:56.2829 LVL= 24992, 16241, 19682, 27491, AGC= 30, IDX= 470,-0.18, 0.256, 2.000,-0.046, 1.784, PHS=-1.426, 0.262,-1.873, RAW= 341.5,  28.8, CAL= 340.7,  33.8, ROT= 169.3, -33.8

2025-08-08T21:37:56.884Z,1754689076.884 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-08T21:37:56.885Z,1754689076.885 [DAT](INFO): direction in FSK: [-0.816536,0.154286,0.556296]
2025-08-08T21:37:56.885Z,1754689076.885 [DAT](INFO): publishing direction and range info
2025-08-08T21:37:56.888Z,1754689076.888 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.533398
2025-08-08T21:37:57.125Z,1754689077.125 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.769759
2025-08-08T21:37:57.179Z,1754689077.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.500000 m,
      deltaT: 3.271949 s,
      deltaX: 0.200000 m,
      approachRate: 0.061126 m/s,
      rangeRepo size: 4

2025-08-08T21:37:57.186Z,1754689077.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.500000 m,
      bearing: 208.308140 deg,
      lat: 36.906030 deg,
      lon: -122.115849 deg,
      deltaT: 3.774208 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-08T21:37:57.378Z,1754689077.378 [DAT](INFO): DAT read: Rx Time:21:37:56.7829 

2025-08-08T21:37:57.379Z,1754689077.379 [DAT](INFO): Rx dataTimestamp_ set to:1754689077.378316
2025-08-08T21:37:57.380Z,1754689077.380 [DAT](INFO): DAT read: Bearing 341.6,  10.8 (Local)

2025-08-08T21:37:57.380Z,1754689077.380 [DAT](INFO): Local bearing/azimuth received:
 Bearing 341.6,  10.8 (Local)

2025-08-08T21:37:57.382Z,1754689077.382 [DAT](INFO): DAT read: Range 11 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-08-08T21:37:57.387Z,1754689077.387 [DAT](INFO): DAT read: 21:37:56.7829 LVL= 27984, 16881, 21538, 30499, AGC= 30, IDX= 502,-0.10, 0.939, 2.677, 0.644, 2.461, PHS=-1.419, 0.261,-1.861, RAW= 341.4,  28.8, CAL= 340.6,  33.8, ROT= 169.4, -33.8

2025-08-08T21:37:57.388Z,1754689077.388 [DAT](INFO): got valid direction response:
 21:37:56.7829 LVL= 27984, 16881, 21538, 30499, AGC= 30, IDX= 502,-0.10, 0.939, 2.677, 0.644, 2.461, PHS=-1.419, 0.261,-1.861, RAW= 341.4,  28.8, CAL= 340.6,  33.8, ROT= 169.4, -33.8

2025-08-08T21:37:57.389Z,1754689077.389 [DAT](INFO): #Rx 2: Read range and direction messages.
2025-08-08T21:37:57.390Z,1754689077.390 [DAT](INFO): direction in FSK: [-0.816804,0.152861,0.556296]
2025-08-08T21:37:57.390Z,1754689077.390 [DAT](INFO): publishing direction and range info
2025-08-08T21:37:57.393Z,1754689077.393 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.038352
2025-08-08T21:37:57.577Z,1754689077.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.500000 m,
      deltaT: 0.504682 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-08T21:37:57.579Z,1754689077.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   Added new target pos.
      range: 0.500000 m,
      bearing: 207.958465 deg,
      lat: 36.906030 deg,
      lon: -122.115849 deg,
      deltaT: 0.504682 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      posRepo size: 4

2025-08-08T21:37:57.629Z,1754689077.629 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.273884
2025-08-08T21:37:57.881Z,1754689077.881 [DAT](INFO): DAT read: Rx Time:21:37:57.2828 

2025-08-08T21:37:57.882Z,1754689077.882 [DAT](INFO): Rx dataTimestamp_ set to:1754689077.881245
2025-08-08T21:37:57.883Z,1754689077.883 [DAT](INFO): DAT read: Range 11 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2025-08-08T21:37:57.883Z,1754689077.883 [DAT](ERROR): #Rx 3: Read range message, but no direction.
2025-08-08T21:37:57.884Z,1754689077.884 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.529278
2025-08-08T21:37:58.010Z,1754689078.010 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-08T21:37:58.017Z,1754689078.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.300000 m,
      deltaT: 0.502929 s,
      deltaX: -0.200000 m,
      approachRate: -0.397670 m/s,
      rangeRepo size: 4

2025-08-08T21:37:58.133Z,1754689078.133 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.777801
2025-08-08T21:37:58.385Z,1754689078.385 [DAT](INFO): DAT read: Rx Time:21:37:57.7829 

2025-08-08T21:37:58.386Z,1754689078.386 [DAT](INFO): Rx dataTimestamp_ set to:1754689078.385289
2025-08-08T21:37:58.387Z,1754689078.387 [DAT](INFO): DAT read: Range 11 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-08-08T21:37:58.387Z,1754689078.387 [DAT](ERROR): #Rx 4: Read range message, but no direction.
2025-08-08T21:37:58.388Z,1754689078.388 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=4.033270
2025-08-08T21:37:58.637Z,1754689078.637 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=4.281749
2025-08-08T21:37:58.821Z,1754689078.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.500000 m,
      deltaT: 0.504044 s,
      deltaX: 0.200000 m,
      approachRate: 0.396791 m/s,
      rangeRepo size: 4

2025-08-08T21:37:58.890Z,1754689078.890 [DAT](INFO): DAT read: Rx Time:21:37:58.2829 

2025-08-08T21:37:58.890Z,1754689078.890 [DAT](INFO): Rx dataTimestamp_ set to:1754689078.890124
2025-08-08T21:37:58.892Z,1754689078.892 [DAT](INFO): DAT read: Range 11 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-08-08T21:37:58.892Z,1754689078.892 [DAT](ERROR): #Rx 5: Read range message, but no direction.
2025-08-08T21:37:58.893Z,1754689078.893 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.538116
2025-08-08T21:37:59.141Z,1754689079.141 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.785782
2025-08-08T21:37:59.183Z,1754689079.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.500000 m,
      deltaT: 0.504835 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-08T21:37:59.393Z,1754689079.393 [DAT](INFO): DAT read: Rx Time:21:37:58.7829 

2025-08-08T21:37:59.394Z,1754689079.394 [DAT](INFO): Rx dataTimestamp_ set to:1754689079.393845
2025-08-08T21:37:59.395Z,1754689079.395 [DAT](INFO): DAT read: Range 11 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-08-08T21:37:59.396Z,1754689079.396 [DAT](ERROR): #Rx 6: Read range message, but no direction.
2025-08-08T21:37:59.397Z,1754689079.397 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=5.041827
2025-08-08T21:37:59.585Z,1754689079.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.500000 m,
      deltaT: 0.503721 s,
      deltaX: 0.000000 m,
      approachRate: 0.000000 m/s,
      rangeRepo size: 4

2025-08-08T21:37:59.645Z,1754689079.645 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=5.289831
2025-08-08T21:37:59.897Z,1754689079.897 [DAT](INFO): DAT read: Rx Time:21:37:59.2828 

2025-08-08T21:37:59.897Z,1754689079.897 [DAT](INFO): Rx dataTimestamp_ set to:1754689079.897183
2025-08-08T21:37:59.899Z,1754689079.899 [DAT](INFO): DAT read: Range 11 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2025-08-08T21:37:59.899Z,1754689079.899 [DAT](ERROR): #Rx 7: Read range message, but no direction.
2025-08-08T21:37:59.900Z,1754689079.900 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.545159
2025-08-08T21:38:00.009Z,1754689080.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.300000 m,
      deltaT: 0.503338 s,
      deltaX: -0.200000 m,
      approachRate: -0.397347 m/s,
      rangeRepo size: 4

2025-08-08T21:38:00.149Z,1754689080.149 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.793768
2025-08-08T21:38:00.401Z,1754689080.401 [DAT](INFO): DAT read: Rx Time:21:37:59.7829 

2025-08-08T21:38:00.401Z,1754689080.401 [DAT](INFO): Rx dataTimestamp_ set to:1754689080.401139
2025-08-08T21:38:00.403Z,1754689080.403 [DAT](INFO): DAT read: Range 11 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-08-08T21:38:00.403Z,1754689080.403 [DAT](ERROR): #Rx 8: Read range message, but no direction.
2025-08-08T21:38:00.404Z,1754689080.404 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=6.049220
2025-08-08T21:38:00.433Z,1754689080.433 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-08T21:38:00.436Z,1754689080.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.500000 m,
      deltaT: 0.503956 s,
      deltaX: 0.200000 m,
      approachRate: 0.396860 m/s,
      rangeRepo size: 4

2025-08-08T21:38:00.654Z,1754689080.654 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=6.298905
2025-08-08T21:38:00.905Z,1754689080.905 [DAT](INFO): DAT read: Rx Time:21:38:00.2828 

2025-08-08T21:38:00.906Z,1754689080.906 [DAT](INFO): Rx dataTimestamp_ set to:1754689080.905232
2025-08-08T21:38:00.907Z,1754689080.907 [DAT](INFO): DAT read: Range 11 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2025-08-08T21:38:00.907Z,1754689080.907 [DAT](ERROR): #Rx 9: Read range message, but no direction.
2025-08-08T21:38:00.909Z,1754689080.909 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.553411
2025-08-08T21:38:01.157Z,1754689081.157 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.801680
2025-08-08T21:38:01.202Z,1754689081.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.300000 m,
      deltaT: 0.504093 s,
      deltaX: -0.200000 m,
      approachRate: -0.396752 m/s,
      rangeRepo size: 4

2025-08-08T21:38:01.409Z,1754689081.409 [DAT](INFO): DAT read: Rx Time:21:38:00.7829 

2025-08-08T21:38:01.409Z,1754689081.409 [DAT](INFO): Rx dataTimestamp_ set to:1754689081.409200
2025-08-08T21:38:01.411Z,1754689081.411 [DAT](INFO): DAT read: Range 11 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-08-08T21:38:01.411Z,1754689081.411 [DAT](ERROR): #Rx 10: Read range message, but no direction.
2025-08-08T21:38:01.412Z,1754689081.412 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=7.057186
2025-08-08T21:38:01.625Z,1754689081.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.500000 m,
      deltaT: 0.503968 s,
      deltaX: 0.200000 m,
      approachRate: 0.396851 m/s,
      rangeRepo size: 4

2025-08-08T21:38:01.662Z,1754689081.662 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=7.306149
2025-08-08T21:38:01.913Z,1754689081.913 [DAT](INFO): DAT read: Rx Time:21:38:01.2828 

2025-08-08T21:38:01.913Z,1754689081.913 [DAT](INFO): Rx dataTimestamp_ set to:1754689081.913182
2025-08-08T21:38:01.915Z,1754689081.915 [DAT](INFO): DAT read: Range 11 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2025-08-08T21:38:01.915Z,1754689081.915 [DAT](ERROR): #Rx 11: Read range message, but no direction.
2025-08-08T21:38:01.916Z,1754689081.916 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=7.561167
2025-08-08T21:38:02.047Z,1754689082.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.300000 m,
      deltaT: 0.503982 s,
      deltaX: -0.200000 m,
      approachRate: -0.396840 m/s,
      rangeRepo size: 4

2025-08-08T21:38:02.165Z,1754689082.165 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=7.809832
2025-08-08T21:38:02.395Z,1754689082.395 [CBIT](INFO): Clearing failed state for component DockingStepper
2025-08-08T21:38:02.395Z,1754689082.395 [DockingStepper] No Fault, FailCount= 1
2025-08-08T21:38:02.417Z,1754689082.417 [DAT](INFO): DAT read: Rx Time:21:38:01.7829 

2025-08-08T21:38:02.418Z,1754689082.418 [DAT](INFO): Rx dataTimestamp_ set to:1754689082.417272
2025-08-08T21:38:02.419Z,1754689082.419 [DAT](INFO): DAT read: Range 11 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-08-08T21:38:02.419Z,1754689082.419 [DAT](ERROR): #Rx 12: Read range message, but no direction.
2025-08-08T21:38:02.420Z,1754689082.420 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=8.065268
2025-08-08T21:38:02.454Z,1754689082.454 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-08T21:38:02.459Z,1754689082.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.500000 m,
      deltaT: 0.504090 s,
      deltaX: 0.200000 m,
      approachRate: 0.396755 m/s,
      rangeRepo size: 4

2025-08-08T21:38:02.490Z,1754689082.490 [DockingStepper](DEBUG): Initializing EZServoServo.
2025-08-08T21:38:02.605Z,1754689082.605 [DockingStepper](DEBUG): Initializing DockingStepper.
2025-08-08T21:38:02.669Z,1754689082.669 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=8.313978
2025-08-08T21:38:02.921Z,1754689082.921 [DAT](INFO): DAT read: Rx Time:21:38:02.2828 

2025-08-08T21:38:02.922Z,1754689082.922 [DAT](INFO): Rx dataTimestamp_ set to:1754689082.921313
2025-08-08T21:38:02.923Z,1754689082.923 [DAT](INFO): DAT read: Range 11 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2025-08-08T21:38:02.923Z,1754689082.923 [DAT](ERROR): #Rx 13: Read range message, but no direction.
2025-08-08T21:38:02.925Z,1754689082.925 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=8.569443
2025-08-08T21:38:02.948Z,1754689082.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.300000 m,
      deltaT: 0.504041 s,
      deltaX: -0.200000 m,
      approachRate: -0.396793 m/s,
      rangeRepo size: 4

2025-08-08T21:38:03.174Z,1754689083.174 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=8.818185
2025-08-08T21:38:03.426Z,1754689083.426 [DAT](INFO): DAT read: Rx Time:21:38:02.7829 

2025-08-08T21:38:03.427Z,1754689083.427 [DAT](INFO): Rx dataTimestamp_ set to:1754689083.426305
2025-08-08T21:38:03.428Z,1754689083.428 [DAT](INFO): DAT read: Range 11 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-08-08T21:38:03.428Z,1754689083.428 [DAT](ERROR): #Rx 14: Read range message, but no direction.
2025-08-08T21:38:03.429Z,1754689083.429 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=9.074264
2025-08-08T21:38:03.671Z,1754689083.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.500000 m,
      deltaT: 0.504992 s,
      deltaX: 0.200000 m,
      approachRate: 0.396046 m/s,
      rangeRepo size: 4

2025-08-08T21:38:03.677Z,1754689083.677 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=9.321903
2025-08-08T21:38:03.929Z,1754689083.929 [DAT](INFO): DAT read: Rx Time:21:38:03.2828 

2025-08-08T21:38:03.929Z,1754689083.929 [DAT](INFO): Rx dataTimestamp_ set to:1754689083.929182
2025-08-08T21:38:03.931Z,1754689083.931 [DAT](INFO): DAT read: Range 11 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2025-08-08T21:38:03.931Z,1754689083.931 [DAT](ERROR): #Rx 15: Read range message, but no direction.
2025-08-08T21:38:03.932Z,1754689083.932 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=9.577178
2025-08-08T21:38:04.181Z,1754689084.181 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=9.825799
2025-08-08T21:38:04.226Z,1754689084.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.300000 m,
      deltaT: 0.502877 s,
      deltaX: -0.200000 m,
      approachRate: -0.397712 m/s,
      rangeRepo size: 4

2025-08-08T21:38:04.433Z,1754689084.433 [DAT](INFO): DAT read: Rx Time:21:38:03.7829 

2025-08-08T21:38:04.433Z,1754689084.433 [DAT](INFO): Rx dataTimestamp_ set to:1754689084.433208
2025-08-08T21:38:04.435Z,1754689084.435 [DAT](INFO): DAT read: Range 11 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-08-08T21:38:04.435Z,1754689084.435 [DAT](ERROR): #Rx 16: Read range message, but no direction.
2025-08-08T21:38:04.436Z,1754689084.436 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=10.081212
2025-08-08T21:38:04.638Z,1754689084.638 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-08T21:38:04.641Z,1754689084.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.500000 m,
      deltaT: 0.504026 s,
      deltaX: 0.200000 m,
      approachRate: 0.396805 m/s,
      rangeRepo size: 4

2025-08-08T21:38:04.685Z,1754689084.685 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=10.329858
2025-08-08T21:38:04.938Z,1754689084.938 [DAT](INFO): DAT read: Rx Time:21:38:04.2828 

2025-08-08T21:38:04.938Z,1754689084.938 [DAT](INFO): Rx dataTimestamp_ set to:1754689084.937839
2025-08-08T21:38:04.939Z,1754689084.939 [DAT](INFO): DAT read: Range 11 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2025-08-08T21:38:04.940Z,1754689084.940 [DAT](ERROR): #Rx 17: Read range message, but no direction.
2025-08-08T21:38:04.941Z,1754689084.941 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=10.585795
2025-08-08T21:38:05.075Z,1754689085.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.300000 m,
      deltaT: 0.504631 s,
      deltaX: -0.200000 m,
      approachRate: -0.396329 m/s,
      rangeRepo size: 4

2025-08-08T21:38:05.189Z,1754689085.189 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=10.833782
2025-08-08T21:38:05.441Z,1754689085.441 [DAT](INFO): DAT read: Rx Time:21:38:04.7829 

2025-08-08T21:38:05.442Z,1754689085.442 [DAT](INFO): Rx dataTimestamp_ set to:1754689085.441248
2025-08-08T21:38:05.443Z,1754689085.443 [DAT](INFO): DAT read: Range 11 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-08-08T21:38:05.443Z,1754689085.443 [DAT](ERROR): #Rx 18: Read range message, but no direction.
2025-08-08T21:38:05.444Z,1754689085.444 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=11.089226
2025-08-08T21:38:05.463Z,1754689085.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.500000 m,
      deltaT: 0.503409 s,
      deltaX: 0.200000 m,
      approachRate: 0.397291 m/s,
      rangeRepo size: 4

2025-08-08T21:38:05.697Z,1754689085.697 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=11.341403
2025-08-08T21:38:05.945Z,1754689085.945 [DAT](INFO): DAT read: Rx Time:21:38:05.2828 

2025-08-08T21:38:05.946Z,1754689085.946 [DAT](INFO): Rx dataTimestamp_ set to:1754689085.945324
2025-08-08T21:38:05.947Z,1754689085.947 [DAT](INFO): DAT read: Range 11 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2025-08-08T21:38:05.947Z,1754689085.947 [DAT](ERROR): #Rx 19: Read range message, but no direction.
2025-08-08T21:38:05.948Z,1754689085.948 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=11.593291
2025-08-08T21:38:05.955Z,1754689085.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.300000 m,
      deltaT: 0.504076 s,
      deltaX: -0.200000 m,
      approachRate: -0.396766 m/s,
      rangeRepo size: 4

2025-08-08T21:38:06.197Z,1754689086.197 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=11.841739
2025-08-08T21:38:06.294Z,1754689086.294 [DockingStepper](INFO): Changing to mode: 1
2025-08-08T21:38:06.449Z,1754689086.449 [DAT](INFO): DAT read: Rx Time:21:38:05.7830 

2025-08-08T21:38:06.450Z,1754689086.450 [DAT](INFO): Rx dataTimestamp_ set to:1754689086.449252
2025-08-08T21:38:06.451Z,1754689086.451 [DAT](INFO): DAT read: Range 11 to 50 :     0.6 m (trip time 0.4 ms) speed 0.0

2025-08-08T21:38:06.451Z,1754689086.451 [DAT](ERROR): #Rx 20: Read range message, but no direction.
2025-08-08T21:38:06.452Z,1754689086.452 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=12.097234
2025-08-08T21:38:06.701Z,1754689086.701 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=12.345800
2025-08-08T21:38:06.762Z,1754689086.762 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-08T21:38:06.784Z,1754689086.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): 
   addTargetRange:: Added new target pos.
      range: 0.600000 m,
      deltaT: 0.503928 s,
      deltaX: 0.300000 m,
      approachRate: 0.595323 m/s,
      rangeRepo size: 4

2025-08-08T21:38:06.785Z,1754689086.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](IMPORTANT): Docking sequence complete at range 0.60 m. Lat: 36.906030 Lon: -122.115849 Reached intercept timeout.
2025-08-08T21:38:06.785Z,1754689086.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture] Stopped
2025-08-08T21:38:06.785Z,1754689086.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2025-08-08T21:38:06.787Z,1754689086.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:H] Running Loop=1
2025-08-08T21:38:06.953Z,1754689086.953 [DAT](INFO): DAT read: Rx Time:21:38:06.2829 

2025-08-08T21:38:06.953Z,1754689086.953 [DAT](INFO): Rx dataTimestamp_ set to:1754689086.953095
2025-08-08T21:38:06.955Z,1754689086.955 [DAT](INFO): DAT read: Range 11 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-08-08T21:38:06.955Z,1754689086.955 [DAT](ERROR): #Rx 21: Read range message, but no direction.
2025-08-08T21:38:06.956Z,1754689086.956 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=12.601195
2025-08-08T21:38:07.178Z,1754689087.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:H](INFO): Docked. Homing sequence complete.
2025-08-08T21:38:07.178Z,1754689087.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:H] Stopped
2025-08-08T21:38:07.178Z,1754689087.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:I] Running Loop=1
2025-08-08T21:38:07.205Z,1754689087.205 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=12.849768
2025-08-08T21:38:07.457Z,1754689087.457 [DAT](INFO): DAT read: Rx Time:21:38:06.7829 

2025-08-08T21:38:07.457Z,1754689087.457 [DAT](INFO): Rx dataTimestamp_ set to:1754689087.457147
2025-08-08T21:38:07.459Z,1754689087.459 [DAT](INFO): DAT read: Range 11 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-08-08T21:38:07.459Z,1754689087.459 [DAT](ERROR): #Rx 22: Read range message, but no direction.
2025-08-08T21:38:07.460Z,1754689087.460 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=13.105095
2025-08-08T21:38:07.551Z,1754689087.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:I] Stopped
2025-08-08T21:38:07.553Z,1754689087.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide
2025-08-08T21:38:07.553Z,1754689087.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped
2025-08-08T21:38:07.553Z,1754689087.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide
2025-08-08T21:38:07.553Z,1754689087.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Stopped
2025-08-08T21:38:07.553Z,1754689087.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl
2025-08-08T21:38:07.553Z,1754689087.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Stopped
2025-08-08T21:38:07.553Z,1754689087.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](DEBUG): Uninitialize.
2025-08-08T21:38:07.553Z,1754689087.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped
2025-08-08T21:38:07.553Z,1754689087.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Stopped
2025-08-08T21:38:07.554Z,1754689087.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance
2025-08-08T21:38:07.709Z,1754689087.709 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=13.353711
2025-08-08T21:38:07.961Z,1754689087.961 [DAT](INFO): DAT read: Rx Time:21:38:07.2828 

2025-08-08T21:38:07.962Z,1754689087.962 [DAT](INFO): Rx dataTimestamp_ set to:1754689087.961218
2025-08-08T21:38:07.963Z,1754689087.963 [DAT](INFO): DAT read: Range 11 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2025-08-08T21:38:07.963Z,1754689087.963 [DAT](ERROR): #Rx 23: Read range message, but no direction.
2025-08-08T21:38:07.964Z,1754689087.964 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=13.609195
2025-08-08T21:38:08.013Z,1754689088.013 [lineCaptureHoming:UpdateNumPings_Terminal] Stopped
2025-08-08T21:38:08.013Z,1754689088.013 [lineCaptureHoming:UpdateNumPings_Terminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal
2025-08-08T21:38:08.013Z,1754689088.013 [lineCaptureHoming:UpdateNumPings_NotTerminal] Running Loop=1
2025-08-08T21:38:08.013Z,1754689088.013 [lineCaptureHoming:UpdateNumPings_NotTerminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_NotTerminal
2025-08-08T21:38:08.013Z,1754689088.013 [lineCaptureHoming:UpdateNumPings_NotTerminal:A] Running Loop=1
2025-08-08T21:38:08.013Z,1754689088.013 [lineCaptureHoming:UpdateNumPings_NotTerminal] Running Loop=1
2025-08-08T21:38:08.014Z,1754689088.014 [lineCaptureHoming:UpdateNumPings_NotTerminal:A](INFO): No longer in Terminal. Resuming normal ranging with  1.000000 count pings.
2025-08-08T21:38:08.014Z,1754689088.014 [lineCaptureHoming:UpdateNumPings_NotTerminal:A] Stopped
2025-08-08T21:38:08.014Z,1754689088.014 [lineCaptureHoming:UpdateNumPings_NotTerminal:B] Running Loop=1
2025-08-08T21:38:08.015Z,1754689088.015 [lineCaptureHoming:LineCapture:HomingSequence] Stopped
2025-08-08T21:38:08.015Z,1754689088.015 [lineCaptureHoming:LineCapture:HomingSequence](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence
2025-08-08T21:38:08.015Z,1754689088.015 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock] Stopped
2025-08-08T21:38:08.015Z,1754689088.015 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock
2025-08-08T21:38:08.015Z,1754689088.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Stopped
2025-08-08T21:38:08.015Z,1754689088.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance
2025-08-08T21:38:08.020Z,1754689088.020 [lineCaptureHoming:LineCapture:L.Wait] Running Loop=1
2025-08-08T21:38:08.020Z,1754689088.020 [lineCaptureHoming:LineCapture:L.Wait](DEBUG): Initialize Wait Component.
2025-08-08T21:38:08.213Z,1754689088.213 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=13.857799
2025-08-08T21:38:08.367Z,1754689088.367 [lineCaptureHoming:UpdateNumPings_NotTerminal:B] Stopped
2025-08-08T21:38:08.367Z,1754689088.367 [lineCaptureHoming:UpdateNumPings_NotTerminal:C] Running Loop=1
2025-08-08T21:38:08.465Z,1754689088.465 [DAT](INFO): DAT read: Rx Time:21:38:07.7829 

2025-08-08T21:38:08.465Z,1754689088.465 [DAT](INFO): Rx dataTimestamp_ set to:1754689088.465106
2025-08-08T21:38:08.467Z,1754689088.467 [DAT](INFO): DAT read: Range 11 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-08-08T21:38:08.467Z,1754689088.467 [DAT](ERROR): #Rx 24: Read range message, but no direction.
2025-08-08T21:38:08.468Z,1754689088.468 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=14.113093
2025-08-08T21:38:08.720Z,1754689088.720 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=14.364283
2025-08-08T21:38:08.784Z,1754689088.784 [lineCaptureHoming:UpdateNumPings_NotTerminal] Stopped
2025-08-08T21:38:08.784Z,1754689088.784 [lineCaptureHoming:UpdateNumPings_NotTerminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_NotTerminal
2025-08-08T21:38:08.784Z,1754689088.784 [lineCaptureHoming:UpdateNumPings_NotTerminal:C] Stopped
2025-08-08T21:38:08.784Z,1754689088.784 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-08T21:38:08.969Z,1754689088.969 [DAT](INFO): DAT read: Rx Time:21:38:08.2828 

2025-08-08T21:38:08.970Z,1754689088.970 [DAT](INFO): Rx dataTimestamp_ set to:1754689088.969224
2025-08-08T21:38:08.971Z,1754689088.971 [DAT](INFO): DAT read: Range 11 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2025-08-08T21:38:08.971Z,1754689088.971 [DAT](ERROR): #Rx 25: Read range message, but no direction.
2025-08-08T21:38:08.972Z,1754689088.972 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=14.617227
2025-08-08T21:38:09.224Z,1754689089.224 [DAT](INFO): DAT read: Rx Time:21:38:08.7829 

2025-08-08T21:38:09.226Z,1754689089.226 [DAT](INFO): Rx dataTimestamp_ set to:1754689089.225177
2025-08-08T21:38:09.229Z,1754689089.229 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=14.873507
2025-08-08T21:38:09.473Z,1754689089.473 [DAT](INFO): DAT read: Range 11 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-08-08T21:38:09.474Z,1754689089.474 [DAT](ERROR): #Rx 26: Read range message, but no direction.
2025-08-08T21:38:09.475Z,1754689089.475 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=15.119870
2025-08-08T21:38:09.729Z,1754689089.729 [DAT](INFO): DAT read: Rx Time:21:38:09.2828 

2025-08-08T21:38:09.730Z,1754689089.730 [DAT](INFO): Rx dataTimestamp_ set to:1754689089.729365
2025-08-08T21:38:09.733Z,1754689089.733 [DAT](INFO): DAT read: Range 11 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2025-08-08T21:38:09.734Z,1754689089.734 [DAT](ERROR): #Rx 27: Read range message, but no direction.
2025-08-08T21:38:09.735Z,1754689089.735 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=15.379824
2025-08-08T21:38:09.977Z,1754689089.977 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=15.621802
2025-08-08T21:38:10.231Z,1754689090.231 [DAT](INFO): DAT read: Rx Time:21:38:09.7829 

2025-08-08T21:38:10.232Z,1754689090.232 [DAT](INFO): Rx dataTimestamp_ set to:1754689090.231171
2025-08-08T21:38:10.233Z,1754689090.233 [DAT](INFO): DAT read: Range 11 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-08-08T21:38:10.235Z,1754689090.235 [DAT](ERROR): #Rx 28: Read range message, but no direction.
2025-08-08T21:38:10.236Z,1754689090.236 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=15.880902
2025-08-08T21:38:10.481Z,1754689090.481 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=16.125780
2025-08-08T21:38:10.733Z,1754689090.733 [DAT](INFO): DAT read: Rx Time:21:38:10.2828 

2025-08-08T21:38:10.734Z,1754689090.734 [DAT](INFO): Rx dataTimestamp_ set to:1754689090.733723
2025-08-08T21:38:10.736Z,1754689090.736 [DAT](INFO): DAT read: Range 11 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2025-08-08T21:38:10.737Z,1754689090.737 [DAT](ERROR): #Rx 29: Read range message, but no direction.
2025-08-08T21:38:10.739Z,1754689090.739 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=16.383251
2025-08-08T21:38:10.810Z,1754689090.810 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-08T21:38:10.985Z,1754689090.985 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=16.629686
2025-08-08T21:38:11.238Z,1754689091.238 [DAT](INFO): DAT read: Rx Time:21:38:10.7828 

2025-08-08T21:38:11.239Z,1754689091.239 [DAT](INFO): Rx dataTimestamp_ set to:1754689091.238338
2025-08-08T21:38:11.241Z,1754689091.241 [DAT](INFO): DAT read: Range 11 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2025-08-08T21:38:11.241Z,1754689091.241 [DAT](ERROR): #Rx 30: Read range message, but no direction.
2025-08-08T21:38:11.243Z,1754689091.243 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=16.887735
2025-08-08T21:38:11.489Z,1754689091.489 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=17.133713
2025-08-08T21:38:11.595Z,1754689091.595 [lineCaptureHoming:LineCapture:L.Wait](INFO): Done Waiting.
2025-08-08T21:38:11.595Z,1754689091.595 [lineCaptureHoming:LineCapture:L.Wait] Stopped
2025-08-08T21:38:11.595Z,1754689091.595 [lineCaptureHoming:LineCapture:L.Wait](DEBUG): Uninitialize Wait Component.
2025-08-08T21:38:11.595Z,1754689091.595 [lineCaptureHoming:LineCapture:M] Running Loop=1
2025-08-08T21:38:11.744Z,1754689091.744 [DAT](INFO): DAT read: Rx Time:21:38:11.2827 

2025-08-08T21:38:11.745Z,1754689091.745 [DAT](INFO): Rx dataTimestamp_ set to:1754689091.744413
2025-08-08T21:38:11.747Z,1754689091.747 [DAT](INFO): DAT read: Range 11 to 50 :     0.2 m (trip time 0.1 ms) speed 0.0

2025-08-08T21:38:11.747Z,1754689091.747 [DAT](ERROR): #Rx 31: Read range message, but no direction.
2025-08-08T21:38:11.750Z,1754689091.750 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=17.394274
2025-08-08T21:38:11.993Z,1754689091.993 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=17.637833
2025-08-08T21:38:12.042Z,1754689092.042 [lineCaptureHoming:LineCapture:M](INFO): GuidanceMode 0.000000 count 
2025-08-08T21:38:12.042Z,1754689092.042 [lineCaptureHoming:LineCapture:M] Stopped
2025-08-08T21:38:12.044Z,1754689092.044 [lineCaptureHoming:LineCapture](INFO): Completed lineCaptureHoming:LineCapture
2025-08-08T21:38:12.044Z,1754689092.044 [lineCaptureHoming:LineCapture] Stopped
2025-08-08T21:38:12.044Z,1754689092.044 [lineCaptureHoming:LineCapture](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture
2025-08-08T21:38:12.044Z,1754689092.044 [lineCaptureHoming:LineCapture:StandardEnvelopes] Stopped
2025-08-08T21:38:12.044Z,1754689092.044 [lineCaptureHoming:LineCapture:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:StandardEnvelopes
2025-08-08T21:38:12.044Z,1754689092.044 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-08-08T21:38:12.045Z,1754689092.045 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-08-08T21:38:12.045Z,1754689092.045 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-08-08T21:38:12.045Z,1754689092.045 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-08-08T21:38:12.045Z,1754689092.045 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-08-08T21:38:12.045Z,1754689092.045 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-08-08T21:38:12.045Z,1754689092.045 [lineCaptureHoming:LineCapture:G] Stopped
2025-08-08T21:38:12.045Z,1754689092.045 [lineCaptureHoming:LineCapture:H] Stopped
2025-08-08T21:38:12.045Z,1754689092.045 [lineCaptureHoming:LineCapture:HoldMass] Stopped
2025-08-08T21:38:12.045Z,1754689092.045 [lineCaptureHoming:LineCapture:HoldMass](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HoldMass
2025-08-08T21:38:12.045Z,1754689092.045 [lineCaptureHoming:LineCapture:HoldMass:A] Stopped
2025-08-08T21:38:12.045Z,1754689092.045 [lineCaptureHoming:LineCapture:HoldMass:B.Mass] Stopped
2025-08-08T21:38:12.045Z,1754689092.045 [lineCaptureHoming:LineCapture:HoldMass:B.Mass](DEBUG): Uninitialize.
2025-08-08T21:38:12.045Z,1754689092.045 [lineCaptureHoming:LineCapture:HoldBuoyancy] Stopped
2025-08-08T21:38:12.045Z,1754689092.045 [lineCaptureHoming:LineCapture:HoldBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HoldBuoyancy
2025-08-08T21:38:12.046Z,1754689092.046 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Stopped
2025-08-08T21:38:12.046Z,1754689092.046 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-08-08T21:38:12.246Z,1754689092.246 [DAT](INFO): DAT read: Rx Time:21:38:11.7828 

2025-08-08T21:38:12.246Z,1754689092.246 [DAT](INFO): Rx dataTimestamp_ set to:1754689092.246156
2025-08-08T21:38:12.249Z,1754689092.249 [DAT](INFO): DAT read: Range 11 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2025-08-08T21:38:12.250Z,1754689092.250 [DAT](ERROR): #Rx 32: Read range message, but no direction.
2025-08-08T21:38:12.251Z,1754689092.251 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=17.895590
2025-08-08T21:38:12.411Z,1754689092.411 [lineCaptureHoming:Lap:B](INFO): Completed lineCaptureHoming:Lap:B
2025-08-08T21:38:12.411Z,1754689092.411 [lineCaptureHoming:Lap:B] Stopped
2025-08-08T21:38:12.411Z,1754689092.411 [lineCaptureHoming:Lap:B](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:B
2025-08-08T21:38:12.411Z,1754689092.411 [lineCaptureHoming:Lap:C] Running Loop=1
2025-08-08T21:38:12.497Z,1754689092.497 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=18.141752
2025-08-08T21:38:12.750Z,1754689092.750 [DAT](INFO): DAT read: Rx Time:21:38:12.2828 

2025-08-08T21:38:12.751Z,1754689092.751 [DAT](INFO): Rx dataTimestamp_ set to:1754689092.750208
2025-08-08T21:38:12.761Z,1754689092.761 [DAT](INFO): DAT read: Range 11 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2025-08-08T21:38:12.761Z,1754689092.761 [DAT](ERROR): #Rx 33: Read range message, but no direction.
2025-08-08T21:38:12.762Z,1754689092.762 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=18.407120
2025-08-08T21:38:12.838Z,1754689092.838 [lineCaptureHoming:Lap:C] Stopped
2025-08-08T21:38:12.838Z,1754689092.838 [lineCaptureHoming:Lap:D] Running Loop=1
2025-08-08T21:38:12.838Z,1754689092.838 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-08T21:38:13.001Z,1754689093.001 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=18.645708
2025-08-08T21:38:13.253Z,1754689093.253 [DAT](INFO): DAT read: Rx Time:21:38:12.7829 

2025-08-08T21:38:13.254Z,1754689093.254 [DAT](INFO): Rx dataTimestamp_ set to:1754689093.253279
2025-08-08T21:38:13.255Z,1754689093.255 [DAT](INFO): DAT read: Range 11 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-08-08T21:38:13.255Z,1754689093.255 [DAT](ERROR): #Rx 34: Read range message, but no direction.
2025-08-08T21:38:13.256Z,1754689093.256 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=18.901251
2025-08-08T21:38:13.281Z,1754689093.281 [lineCaptureHoming:Lap:D](INFO): Mode 0.000000 count 
2025-08-08T21:38:13.281Z,1754689093.281 [lineCaptureHoming:Lap:D] Stopped
2025-08-08T21:38:13.281Z,1754689093.281 [lineCaptureHoming:Lap:E] Running Loop=1
2025-08-08T21:38:13.281Z,1754689093.281 [lineCaptureHoming:Lap:E](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:E
2025-08-08T21:38:13.505Z,1754689093.505 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=19.149780
2025-08-08T21:38:13.622Z,1754689093.622 [lineCaptureHoming:restartDHCP] Running Loop=1
2025-08-08T21:38:13.622Z,1754689093.622 [lineCaptureHoming:restartDHCP](DEBUG): Aggregate::initialize lineCaptureHoming:restartDHCP
2025-08-08T21:38:13.622Z,1754689093.622 [lineCaptureHoming:restartDHCP:A] Running Loop=1
2025-08-08T21:38:13.622Z,1754689093.622 [lineCaptureHoming:restartDHCP:A](INFO): Restarting DHCP...
2025-08-08T21:38:13.622Z,1754689093.622 [lineCaptureHoming:restartDHCP:A] Stopped
2025-08-08T21:38:13.623Z,1754689093.623 [lineCaptureHoming:restartDHCP:B.Execute] Running Loop=1
2025-08-08T21:38:13.760Z,1754689093.760 [DAT](INFO): DAT read: Rx Time:21:38:13.2828 

2025-08-08T21:38:13.762Z,1754689093.762 [DAT](INFO): Rx dataTimestamp_ set to:1754689093.760780
2025-08-08T21:38:13.765Z,1754689093.765 [DAT](INFO): DAT read: Bearing 265.3,  17.4 (Local)

2025-08-08T21:38:13.766Z,1754689093.766 [DAT](INFO): Local bearing/azimuth received:
 Bearing 265.3,  17.4 (Local)

2025-08-08T21:38:13.771Z,1754689093.771 [DAT](INFO): DAT read: Range 11 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2025-08-08T21:38:13.792Z,1754689093.792 [DAT](INFO): DAT read: 21:38:13.2828 LVL= 26672, 23281, 24034, 30355, AGC= 36, IDX= 499,-0.19, 0.720,-0.067, 0.127, 1.771, PHS=-0.948,-1.793,-1.687, RAW=  96.6,  63.0, CAL=  95.7,  66.7, ROT=  54.3, -66.7

2025-08-08T21:38:13.793Z,1754689093.793 [DAT](INFO): got valid direction response:
 21:38:13.2828 LVL= 26672, 23281, 24034, 30355, AGC= 36, IDX= 499,-0.19, 0.720,-0.067, 0.127, 1.771, PHS=-0.948,-1.793,-1.687, RAW=  96.6,  63.0, CAL=  95.7,  66.7, ROT=  54.3, -66.7

2025-08-08T21:38:13.794Z,1754689093.794 [DAT](INFO): #Rx 35: Read range and direction messages.
2025-08-08T21:38:13.795Z,1754689093.795 [DAT](INFO): direction in FSK: [0.230817,0.321216,0.918446]
2025-08-08T21:38:13.795Z,1754689093.795 [DAT](INFO): publishing direction and range info
2025-08-08T21:38:13.807Z,1754689093.807 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=19.451607
2025-08-08T21:38:14.009Z,1754689094.009 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=19.653833
2025-08-08T21:38:14.051Z,1754689094.051 [lineCaptureHoming:restartDHCP:B.Execute](INFO): Executing command ! /mnt/mmc/LRAUV/Tools/dhcp.sh
2025-08-08T21:38:14.051Z,1754689094.051 [lineCaptureHoming:restartDHCP:B.Execute] Stopped
2025-08-08T21:38:14.052Z,1754689094.052 [lineCaptureHoming:restartDHCP](INFO): Completed lineCaptureHoming:restartDHCP
2025-08-08T21:38:14.052Z,1754689094.052 [lineCaptureHoming:restartDHCP] Stopped
2025-08-08T21:38:14.052Z,1754689094.052 [lineCaptureHoming:restartDHCP](DEBUG): Aggregate::uninitialize lineCaptureHoming:restartDHCP
2025-08-08T21:38:14.154Z,1754689094.154 [CommandExec](IMPORTANT): got command ! /mnt/mmc/LRAUV/Tools/dhcp.sh
2025-08-08T21:38:14.269Z,1754689094.269 [DAT](INFO): DAT read: Rx Time:21:38:13.7829 

2025-08-08T21:38:14.270Z,1754689094.270 [DAT](INFO): Rx dataTimestamp_ set to:1754689094.269259
2025-08-08T21:38:14.274Z,1754689094.274 [DAT](INFO): DAT read: Bearing 266.1,  18.8 (Local)

2025-08-08T21:38:14.276Z,1754689094.276 [DAT](INFO): Local bearing/azimuth received:
 Bearing 266.1,  18.8 (Local)

2025-08-08T21:38:14.278Z,1754689094.278 [DAT](INFO): DAT read: Range 11 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-08-08T21:38:14.287Z,1754689094.287 [DAT](INFO): DAT read: 21:38:13.7829 LVL= 28080, 23233, 24370, 30451, AGC= 36, IDX= 500,-0.10, 1.945, 1.193, 1.296, 2.965, PHS=-0.918,-1.726,-1.713, RAW=  90.8,  62.5, CAL=  90.1,  66.4, ROT=  59.9, -66.4

2025-08-08T21:38:14.293Z,1754689094.293 [DAT](INFO): got valid direction response:
 21:38:13.7829 LVL= 28080, 23233, 24370, 30451, AGC= 36, IDX= 500,-0.10, 1.945, 1.193, 1.296, 2.965, PHS=-0.918,-1.726,-1.713, RAW=  90.8,  62.5, CAL=  90.1,  66.4, ROT=  59.9, -66.4

2025-08-08T21:38:14.293Z,1754689094.293 [DAT](INFO): #Rx 36: Read range and direction messages.
2025-08-08T21:38:14.294Z,1754689094.294 [DAT](INFO): direction in FSK: [0.200779,0.346363,0.916363]
2025-08-08T21:38:14.295Z,1754689094.295 [DAT](INFO): publishing direction and range info
2025-08-08T21:38:14.308Z,1754689094.308 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=19.953098
2025-08-08T21:38:14.470Z,1754689094.470 [lineCaptureHoming:Lap:E](INFO): Completed lineCaptureHoming:Lap:E
2025-08-08T21:38:14.470Z,1754689094.470 [lineCaptureHoming:Lap:E] Stopped
2025-08-08T21:38:14.470Z,1754689094.470 [lineCaptureHoming:Lap:E](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:E
2025-08-08T21:38:14.470Z,1754689094.470 [lineCaptureHoming:Lap:Docked] Running Loop=1
2025-08-08T21:38:14.470Z,1754689094.470 [lineCaptureHoming:Lap:Docked](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Docked
2025-08-08T21:38:14.471Z,1754689094.471 [lineCaptureHoming:Lap:Docked:A] Running Loop=1
2025-08-08T21:38:14.513Z,1754689094.513 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=20.158030
2025-08-08T21:38:14.690Z,1754689094.690 [CommandExec](IMPORTANT): /mnt/mmc/started/2025-08-08UTC213814_sh
  
2025-08-08T21:38:14.770Z,1754689094.770 [DAT](INFO): DAT read: Rx Time:21:38:14.2828 

2025-08-08T21:38:14.773Z,1754689094.773 [DAT](INFO): Rx dataTimestamp_ set to:1754689094.770722
2025-08-08T21:38:14.776Z,1754689094.776 [DAT](INFO): DAT read: Bearing 271.7,  19.6 (Local)

2025-08-08T21:38:14.776Z,1754689094.776 [DAT](INFO): Local bearing/azimuth received:
 Bearing 271.7,  19.6 (Local)

2025-08-08T21:38:14.778Z,1754689094.778 [DAT](INFO): DAT read: Range 11 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2025-08-08T21:38:14.815Z,1754689094.815 [DAT](INFO): DAT read: 21:38:14.2828 LVL= 32496, 23793, 27570, 32755, AGC= 35, IDX= 499,-0.00, 1.401, 0.844, 0.728, 2.469, PHS=-0.966,-1.580,-1.786, RAW=  76.0,  64.3, CAL=  74.2,  67.9, ROT=  75.8, -67.9

2025-08-08T21:38:14.829Z,1754689094.829 [DAT](INFO): got valid direction response:
 21:38:14.2828 LVL= 32496, 23793, 27570, 32755, AGC= 35, IDX= 499,-0.00, 1.401, 0.844, 0.728, 2.469, PHS=-0.966,-1.580,-1.786, RAW=  76.0,  64.3, CAL=  74.2,  67.9, ROT=  75.8, -67.9

2025-08-08T21:38:14.830Z,1754689094.830 [DAT](INFO): #Rx 37: Read range and direction messages.
2025-08-08T21:38:14.831Z,1754689094.831 [DAT](INFO): direction in FSK: [0.092291,0.364729,0.926529]
2025-08-08T21:38:14.831Z,1754689094.831 [DAT](INFO): publishing direction and range info
2025-08-08T21:38:14.869Z,1754689094.869 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=20.513550
2025-08-08T21:38:14.960Z,1754689094.960 [lineCaptureHoming:Lap:Docked:A](INFO): Waiting on dock for  5.000000 min 
2025-08-08T21:38:14.961Z,1754689094.961 [lineCaptureHoming:Lap:Docked:A] Stopped
2025-08-08T21:38:14.961Z,1754689094.961 [lineCaptureHoming:Lap:Docked:C] Running Loop=1
2025-08-08T21:38:15.017Z,1754689095.017 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=20.661861
2025-08-08T21:38:15.272Z,1754689095.272 [DAT](INFO): DAT read: Rx Time:21:38:14.7828 

2025-08-08T21:38:15.274Z,1754689095.274 [DAT](INFO): Rx dataTimestamp_ set to:1754689095.273064
2025-08-08T21:38:15.276Z,1754689095.276 [DAT](INFO): DAT read: Bearing 273.6,  20.5 (Local)

2025-08-08T21:38:15.277Z,1754689095.277 [DAT](INFO): Local bearing/azimuth received:
 Bearing 273.6,  20.5 (Local)

2025-08-08T21:38:15.279Z,1754689095.279 [DAT](INFO): DAT read: Range 11 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2025-08-08T21:38:15.283Z,1754689095.283 [DAT](INFO): DAT read: 21:38:14.7828 LVL= 32464, 24561, 26674, 32755, AGC= 35, IDX= 499, 0.07, 2.088, 1.603, 1.386,-3.122, PHS=-0.971,-1.514,-1.819, RAW=  69.2,  64.0, CAL=  67.0,  67.4, ROT=  83.0, -67.4

2025-08-08T21:38:15.284Z,1754689095.284 [DAT](INFO): got valid direction response:
 21:38:14.7828 LVL= 32464, 24561, 26674, 32755, AGC= 35, IDX= 499, 0.07, 2.088, 1.603, 1.386,-3.122, PHS=-0.971,-1.514,-1.819, RAW=  69.2,  64.0, CAL=  67.0,  67.4, ROT=  83.0, -67.4

2025-08-08T21:38:15.285Z,1754689095.285 [DAT](INFO): #Rx 38: Read range and direction messages.
2025-08-08T21:38:15.286Z,1754689095.286 [DAT](INFO): direction in FSK: [0.046834,0.381431,0.923210]
2025-08-08T21:38:15.286Z,1754689095.286 [DAT](INFO): publishing direction and range info
2025-08-08T21:38:15.298Z,1754689095.298 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=20.943256
2025-08-08T21:38:15.383Z,1754689095.383 [lineCaptureHoming:Lap:Docked:C] Stopped
2025-08-08T21:38:15.383Z,1754689095.383 [lineCaptureHoming:Lap:Docked:D] Running Loop=1
2025-08-08T21:38:15.522Z,1754689095.522 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=21.166573
2025-08-08T21:38:15.646Z,1754689095.646 [lineCaptureHoming:Lap:Docked:D] Stopped
2025-08-08T21:38:15.646Z,1754689095.646 [lineCaptureHoming:Lap:Docked:Docked.Docked] Running Loop=1
2025-08-08T21:38:15.646Z,1754689095.646 [lineCaptureHoming:Lap:Docked:Docked.Docked](DEBUG): Initialize.
2025-08-08T21:38:15.647Z,1754689095.647 [lineCaptureHoming:Lap:Docked:Docked.Docked](DEBUG): Initializing internal variables to default values.
2025-08-08T21:38:15.776Z,1754689095.776 [DAT](INFO): DAT read: Rx Time:21:38:15.2827 

2025-08-08T21:38:15.777Z,1754689095.777 [DAT](INFO): Rx dataTimestamp_ set to:1754689095.776250
2025-08-08T21:38:15.778Z,1754689095.778 [DAT](INFO): DAT read: Bearing 274.7,  20.9 (Local)

2025-08-08T21:38:15.778Z,1754689095.778 [DAT](INFO): Local bearing/azimuth received:
 Bearing 274.7,  20.9 (Local)

2025-08-08T21:38:15.780Z,1754689095.780 [DAT](INFO): DAT read: Range 11 to 50 :     0.2 m (trip time 0.1 ms) speed 0.0

2025-08-08T21:38:15.802Z,1754689095.802 [DAT](INFO): DAT read: 21:38:15.2827 LVL= 32752, 23857, 27282, 32755, AGC= 35, IDX= 498, 0.15, 1.550, 1.121, 0.827, 2.643, PHS=-0.991,-1.477,-1.860, RAW=  63.9,  63.8, CAL=  61.7,  67.0, ROT=  88.3, -67.0

2025-08-08T21:38:15.803Z,1754689095.803 [DAT](INFO): got valid direction response:
 21:38:15.2827 LVL= 32752, 23857, 27282, 32755, AGC= 35, IDX= 498, 0.15, 1.550, 1.121, 0.827, 2.643, PHS=-0.991,-1.477,-1.860, RAW=  63.9,  63.8, CAL=  61.7,  67.0, ROT=  88.3, -67.0

2025-08-08T21:38:15.804Z,1754689095.804 [DAT](INFO): #Rx 39: Read range and direction messages.
2025-08-08T21:38:15.805Z,1754689095.805 [DAT](INFO): direction in FSK: [0.011592,0.390559,0.920505]
2025-08-08T21:38:15.805Z,1754689095.805 [DAT](INFO): publishing direction and range info
2025-08-08T21:38:15.854Z,1754689095.854 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=21.499001
2025-08-08T21:38:16.027Z,1754689096.027 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=21.671404
2025-08-08T21:38:16.093Z,1754689096.093 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): Slide state transition from 3 to 1
2025-08-08T21:38:16.094Z,1754689096.094 [lineCaptureHoming:Lap:Docked:Docked.Docked](INFO): No local IP found
2025-08-08T21:38:16.277Z,1754689096.277 [DAT](INFO): DAT read: Rx Time:21:38:15.7828 

2025-08-08T21:38:16.278Z,1754689096.278 [DAT](INFO): Rx dataTimestamp_ set to:1754689096.277681
2025-08-08T21:38:16.280Z,1754689096.280 [DAT](INFO): DAT read: Range 11 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2025-08-08T21:38:16.281Z,1754689096.281 [DAT](ERROR): #Rx 40: Read range message, but no direction.
2025-08-08T21:38:16.282Z,1754689096.282 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=21.926708
2025-08-08T21:38:16.349Z,1754689096.349 [DockingStepper](FAULT): Timed out moving from: 12384 to: 14700 response: ÿ
2025-08-08T21:38:16.349Z,1754689096.349 [DockingStepper] Hardware Fault, FailCount= 2
2025-08-08T21:38:16.349Z,1754689096.349 [DockingStepper](ERROR): Hardware Fault
2025-08-08T21:38:16.353Z,1754689096.353 [CBIT](ERROR): Hardware Fault in component: DockingStepper
2025-08-08T21:38:16.463Z,1754689096.463 [DockingStepper](DEBUG): Uninitialize Docking Stepper.
2025-08-08T21:38:16.463Z,1754689096.463 [DockingStepper](INFO): Powering down
2025-08-08T21:38:16.529Z,1754689096.529 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=22.173773
2025-08-08T21:38:16.529Z,1754689096.529 [DAT](IMPORTANT): Requesting device enable set for address 50.
2025-08-08T21:38:16.782Z,1754689096.782 [DAT](INFO): DAT read: Rx Time:21:38:16.2828 

2025-08-08T21:38:16.782Z,1754689096.782 [DAT](INFO): Rx dataTimestamp_ set to:1754689096.781976
2025-08-08T21:38:16.783Z,1754689096.783 [DAT](INFO): DAT read: Range 11 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2025-08-08T21:38:16.784Z,1754689096.784 [DAT](ERROR): #Rx 41: Read range message, but no direction.
2025-08-08T21:38:16.785Z,1754689096.785 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=22.429996
2025-08-08T21:38:16.785Z,1754689096.785 [DAT](IMPORTANT): Requesting device enable set for address 50.
2025-08-08T21:38:17.034Z,1754689097.034 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=22.678873
2025-08-08T21:38:17.034Z,1754689097.034 [DAT](IMPORTANT): Requesting device enable set for address 50.
2025-08-08T21:38:17.285Z,1754689097.285 [DAT](INFO): DAT read: Rx Time:21:38:16.7829 

2025-08-08T21:38:17.286Z,1754689097.286 [DAT](INFO): Rx dataTimestamp_ set to:1754689097.285289
2025-08-08T21:38:17.287Z,1754689097.287 [DAT](INFO): DAT read: Range 11 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-08-08T21:38:17.287Z,1754689097.287 [DAT](ERROR): #Rx 42: Read range message, but no direction.
2025-08-08T21:38:17.289Z,1754689097.289 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=22.934101
2025-08-08T21:38:17.537Z,1754689097.537 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=23.181709
2025-08-08T21:38:17.791Z,1754689097.791 [DAT](INFO): DAT read: Rx Time:21:38:17.2828 

2025-08-08T21:38:17.792Z,1754689097.792 [DAT](INFO): Rx dataTimestamp_ set to:1754689097.791463
2025-08-08T21:38:17.793Z,1754689097.793 [DAT](INFO): DAT read: Range 11 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2025-08-08T21:38:17.794Z,1754689097.794 [DAT](ERROR): #Rx 43: Read range message, but no direction.
2025-08-08T21:38:17.795Z,1754689097.795 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=23.439482
2025-08-08T21:38:18.084Z,1754689098.084 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=23.728605
2025-08-08T21:38:18.293Z,1754689098.293 [DAT](INFO): DAT read: Rx Time:21:38:17.7829 

2025-08-08T21:38:18.293Z,1754689098.293 [DAT](INFO): Rx dataTimestamp_ set to:1754689098.293161
2025-08-08T21:38:18.295Z,1754689098.295 [DAT](INFO): DAT read: Range 11 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-08-08T21:38:18.295Z,1754689098.295 [DAT](ERROR): #Rx 44: Read range message, but no direction.
2025-08-08T21:38:18.296Z,1754689098.296 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=23.941135
2025-08-08T21:38:18.546Z,1754689098.546 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=24.189754
2025-08-08T21:38:18.797Z,1754689098.797 [DAT](INFO): DAT read: Rx Time:21:38:18.2828 

2025-08-08T21:38:18.797Z,1754689098.797 [DAT](INFO): Rx dataTimestamp_ set to:1754689098.797168
2025-08-08T21:38:18.799Z,1754689098.799 [DAT](INFO): DAT read: Range 11 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2025-08-08T21:38:18.799Z,1754689098.799 [DAT](ERROR): #Rx 45: Read range message, but no direction.
2025-08-08T21:38:18.800Z,1754689098.800 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=24.445242
2025-08-08T21:38:19.051Z,1754689099.051 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=24.695604
2025-08-08T21:38:19.301Z,1754689099.301 [DAT](INFO): DAT read: Rx Time:21:38:18.7828 

2025-08-08T21:38:19.302Z,1754689099.302 [DAT](INFO): Rx dataTimestamp_ set to:1754689099.301226
2025-08-08T21:38:19.303Z,1754689099.303 [DAT](INFO): DAT read: Range 11 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2025-08-08T21:38:19.303Z,1754689099.303 [DAT](ERROR): #Rx 46: Read range message, but no direction.
2025-08-08T21:38:19.304Z,1754689099.304 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=24.949186
2025-08-08T21:38:19.553Z,1754689099.553 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=25.197689
2025-08-08T21:38:19.805Z,1754689099.805 [DAT](INFO): DAT read: Rx Time:21:38:19.2827 

2025-08-08T21:38:19.805Z,1754689099.805 [DAT](INFO): Rx dataTimestamp_ set to:1754689099.805211
2025-08-08T21:38:19.807Z,1754689099.807 [DAT](INFO): DAT read: Range 11 to 50 :     0.2 m (trip time 0.1 ms) speed 0.0

2025-08-08T21:38:19.807Z,1754689099.807 [DAT](ERROR): #Rx 47: Read range message, but no direction.
2025-08-08T21:38:19.808Z,1754689099.808 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=25.453165
2025-08-08T21:38:20.059Z,1754689100.059 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=25.703150
2025-08-08T21:38:20.309Z,1754689100.309 [DAT](INFO): DAT read: Rx Time:21:38:19.7829 

2025-08-08T21:38:20.309Z,1754689100.309 [DAT](INFO): Rx dataTimestamp_ set to:1754689100.309159
2025-08-08T21:38:20.311Z,1754689100.311 [DAT](INFO): DAT read: Range 11 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-08-08T21:38:20.311Z,1754689100.311 [DAT](ERROR): #Rx 48: Read range message, but no direction.
2025-08-08T21:38:20.312Z,1754689100.312 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=25.957123
2025-08-08T21:38:20.561Z,1754689100.561 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=26.205833
2025-08-08T21:38:20.813Z,1754689100.813 [DAT](INFO): DAT read: Rx Time:21:38:20.2828 

2025-08-08T21:38:20.813Z,1754689100.813 [DAT](INFO): Rx dataTimestamp_ set to:1754689100.813144
2025-08-08T21:38:20.815Z,1754689100.815 [DAT](INFO): DAT read: Range 11 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2025-08-08T21:38:20.815Z,1754689100.815 [DAT](ERROR): #Rx 49: Read range message, but no direction.
2025-08-08T21:38:20.816Z,1754689100.816 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=26.461094
2025-08-08T21:38:21.069Z,1754689101.069 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=26.712812
2025-08-08T21:38:21.317Z,1754689101.317 [DAT](INFO): DAT read: Rx Time:21:38:20.7829 

2025-08-08T21:38:21.317Z,1754689101.317 [DAT](INFO): Rx dataTimestamp_ set to:1754689101.317207
2025-08-08T21:38:21.319Z,1754689101.319 [DAT](INFO): DAT read: Range 11 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-08-08T21:38:21.319Z,1754689101.319 [DAT](ERROR): #Rx 50: Read range message, but no direction.
2025-08-08T21:38:21.320Z,1754689101.320 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=26.965246
2025-08-08T21:38:21.569Z,1754689101.569 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=27.213858
2025-08-08T21:38:21.821Z,1754689101.821 [DAT](INFO): DAT read: Rx Time:21:38:21.2827 

2025-08-08T21:38:21.821Z,1754689101.821 [DAT](INFO): Rx dataTimestamp_ set to:1754689101.821169
2025-08-08T21:38:21.823Z,1754689101.823 [DAT](INFO): DAT read: Range 11 to 50 :     0.2 m (trip time 0.1 ms) speed 0.0

2025-08-08T21:38:21.823Z,1754689101.823 [DAT](ERROR): #Rx 51: Read range message, but no direction.
2025-08-08T21:38:21.824Z,1754689101.824 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=27.469130
2025-08-08T21:38:22.079Z,1754689102.079 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=27.723883
2025-08-08T21:38:22.329Z,1754689102.329 [DAT](INFO): DAT read: Rx Time:21:38:21.7828 

2025-08-08T21:38:22.329Z,1754689102.329 [DAT](INFO): Rx dataTimestamp_ set to:1754689102.329137
2025-08-08T21:38:22.331Z,1754689102.331 [DAT](INFO): DAT read: Range 11 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2025-08-08T21:38:22.331Z,1754689102.331 [DAT](ERROR): #Rx 52: Read range message, but no direction.
2025-08-08T21:38:22.332Z,1754689102.332 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=27.977081
2025-08-08T21:38:22.581Z,1754689102.581 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=28.226095
2025-08-08T21:38:22.834Z,1754689102.834 [DAT](INFO): DAT read: Rx Time:21:38:22.2827 

2025-08-08T21:38:22.834Z,1754689102.834 [DAT](INFO): Rx dataTimestamp_ set to:1754689102.834094
2025-08-08T21:38:22.836Z,1754689102.836 [DAT](INFO): DAT read: Range 11 to 50 :     0.2 m (trip time 0.1 ms) speed 0.0

2025-08-08T21:38:22.837Z,1754689102.837 [DAT](ERROR): #Rx 53: Read range message, but no direction.
2025-08-08T21:38:22.838Z,1754689102.838 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=28.482906
2025-08-08T21:38:23.089Z,1754689103.089 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=28.733150
2025-08-08T21:38:23.337Z,1754689103.337 [DAT](INFO): DAT read: Rx Time:21:38:22.7827 

2025-08-08T21:38:23.337Z,1754689103.337 [DAT](INFO): Rx dataTimestamp_ set to:1754689103.337096
2025-08-08T21:38:23.339Z,1754689103.339 [DAT](INFO): DAT read: Range 11 to 50 :     0.2 m (trip time 0.1 ms) speed 0.0

2025-08-08T21:38:23.339Z,1754689103.339 [DAT](ERROR): #Rx 54: Read range message, but no direction.
2025-08-08T21:38:23.340Z,1754689103.340 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=28.985037
2025-08-08T21:38:23.589Z,1754689103.589 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=29.233751
2025-08-08T21:38:23.842Z,1754689103.842 [DAT](INFO): DAT read: Rx Time:21:38:23.2827 

2025-08-08T21:38:23.842Z,1754689103.842 [DAT](INFO): Rx dataTimestamp_ set to:1754689103.841827
2025-08-08T21:38:23.844Z,1754689103.844 [DAT](INFO): DAT read: Range 11 to 50 :     0.2 m (trip time 0.1 ms) speed 0.0

2025-08-08T21:38:23.845Z,1754689103.845 [DAT](ERROR): #Rx 55: Read range message, but no direction.
2025-08-08T21:38:23.846Z,1754689103.846 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=29.491028
2025-08-08T21:38:24.095Z,1754689104.095 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=29.739887
2025-08-08T21:38:24.345Z,1754689104.345 [DAT](INFO): DAT read: Rx Time:21:38:23.7828 

2025-08-08T21:38:24.345Z,1754689104.345 [DAT](INFO): Rx dataTimestamp_ set to:1754689104.345209
2025-08-08T21:38:24.347Z,1754689104.347 [DAT](INFO): DAT read: Range 11 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2025-08-08T21:38:24.347Z,1754689104.347 [DAT](ERROR): #Rx 56: Read range message, but no direction.
2025-08-08T21:38:24.348Z,1754689104.348 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=29.993183
2025-08-08T21:38:24.597Z,1754689104.597 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=30.242006
2025-08-08T21:38:24.850Z,1754689104.850 [DAT](INFO): DAT read: Rx Time:21:38:24.2827 

2025-08-08T21:38:24.850Z,1754689104.850 [DAT](INFO): Rx dataTimestamp_ set to:1754689104.849823
2025-08-08T21:38:24.852Z,1754689104.852 [DAT](INFO): DAT read: Range 11 to 50 :     0.2 m (trip time 0.1 ms) speed 0.0

2025-08-08T21:38:24.853Z,1754689104.853 [DAT](ERROR): #Rx 57: Read range message, but no direction.
2025-08-08T21:38:24.854Z,1754689104.854 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=30.498924
2025-08-08T21:38:25.104Z,1754689105.104 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=30.747822
2025-08-08T21:38:25.358Z,1754689105.358 [DAT](INFO): DAT read: Rx Time:21:38:24.7828 

2025-08-08T21:38:25.358Z,1754689105.358 [DAT](INFO): Rx dataTimestamp_ set to:1754689105.357735
2025-08-08T21:38:25.359Z,1754689105.359 [DAT](INFO): DAT read: Range 11 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2025-08-08T21:38:25.360Z,1754689105.360 [DAT](ERROR): #Rx 58: Read range message, but no direction.
2025-08-08T21:38:25.361Z,1754689105.361 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=31.005892
2025-08-08T21:38:25.605Z,1754689105.605 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=31.249678
2025-08-08T21:38:25.858Z,1754689105.858 [DAT](INFO): DAT read: Rx Time:21:38:25.2827 

2025-08-08T21:38:25.858Z,1754689105.858 [DAT](INFO): Rx dataTimestamp_ set to:1754689105.858018
2025-08-08T21:38:25.860Z,1754689105.860 [DAT](INFO): DAT read: Range 11 to 50 :     0.2 m (trip time 0.1 ms) speed 0.0

2025-08-08T21:38:25.861Z,1754689105.861 [DAT](ERROR): #Rx 59: Read range message, but no direction.
2025-08-08T21:38:25.862Z,1754689105.862 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=31.506832
2025-08-08T21:38:26.109Z,1754689106.109 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=31.753780
2025-08-08T21:38:26.361Z,1754689106.361 [DAT](INFO): DAT read: Rx Time:21:38:25.7828 

2025-08-08T21:38:26.361Z,1754689106.361 [DAT](INFO): Rx dataTimestamp_ set to:1754689106.361174
2025-08-08T21:38:26.363Z,1754689106.363 [DAT](INFO): DAT read: Range 11 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2025-08-08T21:38:26.363Z,1754689106.363 [DAT](ERROR): #Rx 60: Read range message, but no direction.
2025-08-08T21:38:26.364Z,1754689106.364 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=32.009136
2025-08-08T21:38:26.614Z,1754689106.614 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=32.258572
2025-08-08T21:38:26.865Z,1754689106.865 [DAT](INFO): DAT read: Rx Time:21:38:26.2827 

2025-08-08T21:38:26.865Z,1754689106.865 [DAT](INFO): Rx dataTimestamp_ set to:1754689106.865212
2025-08-08T21:38:26.867Z,1754689106.867 [DAT](INFO): DAT read: Range 11 to 50 :     0.2 m (trip time 0.1 ms) speed 0.0

2025-08-08T21:38:26.867Z,1754689106.867 [DAT](ERROR): #Rx 61: Read range message, but no direction.
2025-08-08T21:38:26.868Z,1754689106.868 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=32.513149
2025-08-08T21:38:27.120Z,1754689107.120 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=32.764385
2025-08-08T21:38:27.369Z,1754689107.369 [DAT](INFO): DAT read: Rx Time:21:38:26.7827 

2025-08-08T21:38:27.370Z,1754689107.370 [DAT](INFO): Rx dataTimestamp_ set to:1754689107.369285
2025-08-08T21:38:27.371Z,1754689107.371 [DAT](INFO): DAT read: Range 11 to 50 :     0.2 m (trip time 0.1 ms) speed 0.0

2025-08-08T21:38:27.371Z,1754689107.371 [DAT](ERROR): #Rx 62: Read range message, but no direction.
2025-08-08T21:38:27.372Z,1754689107.372 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=33.017281
2025-08-08T21:38:27.621Z,1754689107.621 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=33.265682
2025-08-08T21:38:27.873Z,1754689107.873 [DAT](INFO): DAT read: Rx Time:21:38:27.2826 

2025-08-08T21:38:27.873Z,1754689107.873 [DAT](INFO): Rx dataTimestamp_ set to:1754689107.873199
2025-08-08T21:38:27.875Z,1754689107.875 [DAT](INFO): DAT read: Range 11 to 50 :     0.0 m (trip time 0.0 ms) speed 0.0

2025-08-08T21:38:27.875Z,1754689107.875 [DAT](INFO): unknown deviceResponse_: Range 11 to 50 :     0.0 m (trip time 0.0 ms) speed 0.0

2025-08-08T21:38:27.876Z,1754689107.876 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=33.520630
2025-08-08T21:38:28.125Z,1754689108.125 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=33.769943
2025-08-08T21:38:28.377Z,1754689108.377 [DAT](INFO): DAT read: Rx Time:21:38:27.7828 

2025-08-08T21:38:28.378Z,1754689108.378 [DAT](INFO): Rx dataTimestamp_ set to:1754689108.377228
2025-08-08T21:38:28.379Z,1754689108.379 [DAT](INFO): DAT read: Range 11 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2025-08-08T21:38:28.379Z,1754689108.379 [DAT](ERROR): #Rx 63: Read range message, but no direction.
2025-08-08T21:38:28.380Z,1754689108.380 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=34.025249
2025-08-08T21:38:28.629Z,1754689108.629 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=34.273800
2025-08-08T21:38:28.881Z,1754689108.881 [DAT](INFO): DAT read: Rx Time:21:38:28.2827 

2025-08-08T21:38:28.882Z,1754689108.882 [DAT](INFO): Rx dataTimestamp_ set to:1754689108.881236
2025-08-08T21:38:28.883Z,1754689108.883 [DAT](INFO): DAT read: Range 11 to 50 :     0.2 m (trip time 0.1 ms) speed 0.0

2025-08-08T21:38:28.883Z,1754689108.883 [DAT](ERROR): #Rx 64: Read range message, but no direction.
2025-08-08T21:38:28.884Z,1754689108.884 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=34.529205
2025-08-08T21:38:29.136Z,1754689109.136 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=34.780212
2025-08-08T21:38:29.385Z,1754689109.385 [DAT](INFO): DAT read: Rx Time:21:38:28.7828 

2025-08-08T21:38:29.386Z,1754689109.386 [DAT](INFO): Rx dataTimestamp_ set to:1754689109.385247
2025-08-08T21:38:29.387Z,1754689109.387 [DAT](INFO): DAT read: Range 11 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2025-08-08T21:38:29.387Z,1754689109.387 [DAT](ERROR): #Rx 65: Read range message, but no direction.
2025-08-08T21:38:29.388Z,1754689109.388 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=35.033211
2025-08-08T21:38:29.637Z,1754689109.637 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=35.281799
2025-08-08T21:38:29.889Z,1754689109.889 [DAT](INFO): DAT read: Rx Time:21:38:29.2827 

2025-08-08T21:38:29.889Z,1754689109.889 [DAT](INFO): Rx dataTimestamp_ set to:1754689109.889087
2025-08-08T21:38:29.891Z,1754689109.891 [DAT](INFO): DAT read: Range 11 to 50 :     0.2 m (trip time 0.1 ms) speed 0.0

2025-08-08T21:38:29.891Z,1754689109.891 [DAT](ERROR): #Rx 66: Read range message, but no direction.
2025-08-08T21:38:29.892Z,1754689109.892 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=35.537029
2025-08-08T21:38:30.141Z,1754689110.141 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=35.785736
2025-08-08T21:38:30.397Z,1754689110.397 [DAT](INFO): DAT read: Rx Time:21:38:29.7828 

2025-08-08T21:38:30.398Z,1754689110.398 [DAT](INFO): Rx dataTimestamp_ set to:1754689110.397555
2025-08-08T21:38:30.399Z,1754689110.399 [DAT](INFO): DAT read: Range 11 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2025-08-08T21:38:30.400Z,1754689110.400 [DAT](ERROR): #Rx 67: Read range message, but no direction.
2025-08-08T21:38:30.401Z,1754689110.401 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=36.045578
2025-08-08T21:38:30.649Z,1754689110.649 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=36.293835
2025-08-08T21:38:30.901Z,1754689110.901 [DAT](INFO): DAT read: Rx Time:21:38:30.2827 

2025-08-08T21:38:30.901Z,1754689110.901 [DAT](INFO): Rx dataTimestamp_ set to:1754689110.901207
2025-08-08T21:38:30.903Z,1754689110.903 [DAT](INFO): DAT read: Range 11 to 50 :     0.2 m (trip time 0.1 ms) speed 0.0

2025-08-08T21:38:30.903Z,1754689110.903 [DAT](ERROR): #Rx 68: Read range message, but no direction.
2025-08-08T21:38:30.904Z,1754689110.904 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=36.549194
2025-08-08T21:38:31.153Z,1754689111.153 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=36.797771
2025-08-08T21:38:31.405Z,1754689111.405 [DAT](INFO): DAT read: Rx Time:21:38:30.7827 

2025-08-08T21:38:31.406Z,1754689111.406 [DAT](INFO): Rx dataTimestamp_ set to:1754689111.405238
2025-08-08T21:38:31.407Z,1754689111.407 [DAT](INFO): DAT read: Range 11 to 50 :     0.2 m (trip time 0.1 ms) speed 0.0

2025-08-08T21:38:31.407Z,1754689111.407 [DAT](ERROR): #Rx 69: Read range message, but no direction.
2025-08-08T21:38:31.408Z,1754689111.408 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=37.053249
2025-08-08T21:38:31.657Z,1754689111.657 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=37.302063
2025-08-08T21:38:31.909Z,1754689111.909 [DAT](INFO): DAT read: Rx Time:21:38:31.2826 

2025-08-08T21:38:31.910Z,1754689111.910 [DAT](INFO): Rx dataTimestamp_ set to:1754689111.909228
2025-08-08T21:38:31.911Z,1754689111.911 [DAT](INFO): DAT read: Range 11 to 50 :     0.0 m (trip time 0.0 ms) speed 0.0

2025-08-08T21:38:31.911Z,1754689111.911 [DAT](INFO): unknown deviceResponse_: Range 11 to 50 :     0.0 m (trip time 0.0 ms) speed 0.0

2025-08-08T21:38:31.912Z,1754689111.912 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=37.556656
2025-08-08T21:38:32.166Z,1754689112.166 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=37.810493
2025-08-08T21:38:32.413Z,1754689112.413 [DAT](INFO): DAT read: Rx Time:21:38:31.7828 

2025-08-08T21:38:32.413Z,1754689112.413 [DAT](INFO): Rx dataTimestamp_ set to:1754689112.413095
2025-08-08T21:38:32.415Z,1754689112.415 [DAT](INFO): DAT read: Range 11 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2025-08-08T21:38:32.415Z,1754689112.415 [DAT](ERROR): #Rx 70: Read range message, but no direction.
2025-08-08T21:38:32.416Z,1754689112.416 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=38.061081
2025-08-08T21:38:32.665Z,1754689112.665 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=38.309914
2025-08-08T21:38:32.917Z,1754689112.917 [DAT](INFO): DAT read: Rx Time:21:38:32.2827 

2025-08-08T21:38:32.917Z,1754689112.917 [DAT](INFO): Rx dataTimestamp_ set to:1754689112.917121
2025-08-08T21:38:32.919Z,1754689112.919 [DAT](INFO): DAT read: Range 11 to 50 :     0.2 m (trip time 0.1 ms) speed 0.0

2025-08-08T21:38:32.919Z,1754689112.919 [DAT](ERROR): #Rx 71: Read range message, but no direction.
2025-08-08T21:38:32.920Z,1754689112.920 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=38.565105
2025-08-08T21:38:33.169Z,1754689113.169 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=38.813736
2025-08-08T21:38:33.421Z,1754689113.421 [DAT](INFO): DAT read: Rx Time:21:38:32.7828 

2025-08-08T21:38:33.422Z,1754689113.422 [DAT](INFO): Rx dataTimestamp_ set to:1754689113.421303
2025-08-08T21:38:33.423Z,1754689113.423 [DAT](INFO): DAT read: Range 11 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2025-08-08T21:38:33.423Z,1754689113.423 [DAT](ERROR): #Rx 72: Read range message, but no direction.
2025-08-08T21:38:33.424Z,1754689113.424 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=39.069298
2025-08-08T21:38:33.673Z,1754689113.673 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=39.317806
2025-08-08T21:38:33.925Z,1754689113.925 [DAT](INFO): DAT read: Rx Time:21:38:33.2827 

2025-08-08T21:38:33.925Z,1754689113.925 [DAT](INFO): Rx dataTimestamp_ set to:1754689113.925178
2025-08-08T21:38:33.927Z,1754689113.927 [DAT](INFO): DAT read: Range 11 to 50 :     0.2 m (trip time 0.1 ms) speed 0.0

2025-08-08T21:38:33.927Z,1754689113.927 [DAT](ERROR): #Rx 73: Read range message, but no direction.
2025-08-08T21:38:33.928Z,1754689113.928 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=39.573154
2025-08-08T21:38:34.177Z,1754689114.177 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=39.821751
2025-08-08T21:38:34.429Z,1754689114.429 [DAT](INFO): DAT read: Rx Time:21:38:33.7827 

2025-08-08T21:38:34.430Z,1754689114.430 [DAT](INFO): Rx dataTimestamp_ set to:1754689114.429580
2025-08-08T21:38:34.431Z,1754689114.431 [DAT](INFO): DAT read: Bearing 322.9,   8.8 (Local)

2025-08-08T21:38:34.431Z,1754689114.431 [DAT](INFO): Local bearing/azimuth received:
 Bearing 322.9,   8.8 (Local)

2025-08-08T21:38:34.434Z,1754689114.434 [DAT](INFO): DAT read: Range 11 to 50 :     0.2 m (trip time 0.1 ms) speed 0.0

2025-08-08T21:38:34.438Z,1754689114.438 [DAT](INFO): DAT read: 21:38:33.7827 LVL= 25392, 20881, 23186, 28019, AGC= 30, IDX= 501,-0.14,-2.218,-0.251,-2.417,-0.851, PHS=-1.265, 0.645,-1.610, RAW= 338.2,  20.5, CAL= 338.1,  25.2, ROT= 171.9, -25.2

2025-08-08T21:38:34.439Z,1754689114.439 [DAT](INFO): got valid direction response:
 21:38:33.7827 LVL= 25392, 20881, 23186, 28019, AGC= 30, IDX= 501,-0.14,-2.218,-0.251,-2.417,-0.851, PHS=-1.265, 0.645,-1.610, RAW= 338.2,  20.5, CAL= 338.1,  25.2, ROT= 171.9, -25.2

2025-08-08T21:38:34.440Z,1754689114.440 [DAT](INFO): #Rx 74: Read range and direction messages.
2025-08-08T21:38:34.441Z,1754689114.441 [DAT](INFO): direction in FSK: [-0.895800,0.127491,0.425779]
2025-08-08T21:38:34.441Z,1754689114.441 [DAT](INFO): publishing direction and range info
2025-08-08T21:38:34.445Z,1754689114.445 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=40.089584
2025-08-08T21:38:34.681Z,1754689114.681 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=40.325809
2025-08-08T21:38:34.933Z,1754689114.933 [DAT](INFO): DAT read: Rx Time:21:38:34.2826 

2025-08-08T21:38:34.934Z,1754689114.934 [DAT](INFO): Rx dataTimestamp_ set to:1754689114.933662
2025-08-08T21:38:34.935Z,1754689114.935 [DAT](INFO): DAT read: Bearing 323.5,   8.7 (Local)

2025-08-08T21:38:34.936Z,1754689114.936 [DAT](INFO): Local bearing/azimuth received:
 Bearing 323.5,   8.7 (Local)

2025-08-08T21:38:34.938Z,1754689114.938 [DAT](INFO): DAT read: Range 11 to 50 :     0.0 m (trip time 0.0 ms) speed 0.0

2025-08-08T21:38:34.938Z,1754689114.938 [DAT](INFO): unknown deviceResponse_: Range 11 to 50 :     0.0 m (trip time 0.0 ms) speed 0.0

2025-08-08T21:38:34.942Z,1754689114.942 [DAT](INFO): DAT read: 21:38:34.2826 LVL= 25296, 20753, 23026, 28019, AGC= 30, IDX= 500,-0.07,-2.690,-0.704,-2.870,-1.332, PHS=-1.257, 0.672,-1.582, RAW= 337.7,  19.9, CAL= 337.7,  24.6, ROT= 172.3, -24.6

2025-08-08T21:38:34.943Z,1754689114.943 [DAT](INFO): got valid direction response:
 21:38:34.2826 LVL= 25296, 20753, 23026, 28019, AGC= 30, IDX= 500,-0.07,-2.690,-0.704,-2.870,-1.332, PHS=-1.257, 0.672,-1.582, RAW= 337.7,  19.9, CAL= 337.7,  24.6, ROT= 172.3, -24.6

2025-08-08T21:38:34.944Z,1754689114.944 [DAT](INFO): #Rx 75: Read direction message, but no range.
2025-08-08T21:38:34.945Z,1754689114.945 [DAT](INFO): direction in FSK: [-0.901038,0.121825,0.416281]
2025-08-08T21:38:34.948Z,1754689114.948 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=40.593227
2025-08-08T21:38:35.186Z,1754689115.186 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=40.830654
2025-08-08T21:38:35.437Z,1754689115.437 [DAT](INFO): DAT read: Rx Time:21:38:34.7827 

2025-08-08T21:38:35.438Z,1754689115.438 [DAT](INFO): Rx dataTimestamp_ set to:1754689115.437232
2025-08-08T21:38:35.439Z,1754689115.439 [DAT](INFO): DAT read: Range 11 to 50 :     0.2 m (trip time 0.1 ms) speed 0.0

2025-08-08T21:38:35.439Z,1754689115.439 [DAT](ERROR): #Rx 76: Read range message, but no direction.
2025-08-08T21:38:35.440Z,1754689115.440 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=41.085247
2025-08-08T21:38:35.691Z,1754689115.691 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=41.335285
2025-08-08T21:38:35.941Z,1754689115.941 [DAT](INFO): DAT read: Rx Time:21:38:35.2826 

2025-08-08T21:38:35.941Z,1754689115.941 [DAT](INFO): Rx dataTimestamp_ set to:1754689115.941119
2025-08-08T21:38:35.943Z,1754689115.943 [DAT](INFO): DAT read: Range 11 to 50 :     0.0 m (trip time 0.0 ms) speed 0.0

2025-08-08T21:38:35.943Z,1754689115.943 [DAT](INFO): unknown deviceResponse_: Range 11 to 50 :     0.0 m (trip time 0.0 ms) speed 0.0

2025-08-08T21:38:35.944Z,1754689115.944 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=41.588566
2025-08-08T21:38:36.194Z,1754689116.194 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=41.838566
2025-08-08T21:38:36.445Z,1754689116.445 [DAT](INFO): DAT read: Rx Time:21:38:35.7828 

2025-08-08T21:38:36.445Z,1754689116.445 [DAT](INFO): Rx dataTimestamp_ set to:1754689116.445181
2025-08-08T21:38:36.447Z,1754689116.447 [DAT](INFO): DAT read: Range 11 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2025-08-08T21:38:36.447Z,1754689116.447 [DAT](ERROR): #Rx 77: Read range message, but no direction.
2025-08-08T21:38:36.448Z,1754689116.448 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=42.093174
2025-08-08T21:38:36.698Z,1754689116.698 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=42.342216
2025-08-08T21:38:36.949Z,1754689116.949 [DAT](INFO): DAT read: Rx Time:21:38:36.2827 

2025-08-08T21:38:36.949Z,1754689116.949 [DAT](INFO): Rx dataTimestamp_ set to:1754689116.949139
2025-08-08T21:38:36.951Z,1754689116.951 [DAT](INFO): DAT read: Range 11 to 50 :     0.2 m (trip time 0.1 ms) speed 0.0

2025-08-08T21:38:36.951Z,1754689116.951 [DAT](ERROR): #Rx 78: Read range message, but no direction.
2025-08-08T21:38:36.952Z,1754689116.952 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=42.597095
2025-08-08T21:38:37.130Z,1754689117.130 [CBIT](INFO): Clearing failed state for component DockingStepper
2025-08-08T21:38:37.130Z,1754689117.130 [DockingStepper] No Fault, FailCount= 2
2025-08-08T21:38:37.202Z,1754689117.202 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=42.846943
2025-08-08T21:38:37.453Z,1754689117.453 [DAT](INFO): DAT read: Rx Time:21:38:36.7828 

2025-08-08T21:38:37.454Z,1754689117.454 [DAT](INFO): Rx dataTimestamp_ set to:1754689117.453223
2025-08-08T21:38:37.455Z,1754689117.455 [DAT](INFO): DAT read: Range 11 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2025-08-08T21:38:37.455Z,1754689117.455 [DAT](ERROR): #Rx 79: Read range message, but no direction.
2025-08-08T21:38:37.456Z,1754689117.456 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=43.101192
2025-08-08T21:38:37.657Z,1754689117.657 [DockingStepper](DEBUG): Initializing EZServoServo.
2025-08-08T21:38:37.658Z,1754689117.658 [DockingStepper](DEBUG): Initializing DockingStepper.
2025-08-08T21:38:37.706Z,1754689117.706 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=43.351051
2025-08-08T21:38:37.957Z,1754689117.957 [DAT](INFO): DAT read: Rx Time:21:38:37.2827 

2025-08-08T21:38:37.957Z,1754689117.957 [DAT](INFO): Rx dataTimestamp_ set to:1754689117.957176
2025-08-08T21:38:37.959Z,1754689117.959 [DAT](INFO): DAT read: Range 11 to 50 :     0.2 m (trip time 0.1 ms) speed 0.0

2025-08-08T21:38:37.959Z,1754689117.959 [DAT](ERROR): #Rx 80: Read range message, but no direction.
2025-08-08T21:38:37.960Z,1754689117.960 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=43.605160
2025-08-08T21:38:38.210Z,1754689118.210 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=43.854862
2025-08-08T21:38:38.461Z,1754689118.461 [DAT](INFO): DAT read: Rx Time:21:38:37.7828 

2025-08-08T21:38:38.461Z,1754689118.461 [DAT](INFO): Rx dataTimestamp_ set to:1754689118.461169
2025-08-08T21:38:38.463Z,1754689118.463 [DAT](INFO): DAT read: Range 11 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2025-08-08T21:38:38.463Z,1754689118.463 [DAT](ERROR): #Rx 81: Read range message, but no direction.
2025-08-08T21:38:38.464Z,1754689118.464 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=44.109138
2025-08-08T21:38:38.716Z,1754689118.716 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=44.359825
2025-08-08T21:38:38.965Z,1754689118.965 [DAT](INFO): DAT read: Rx Time:21:38:38.2827 

2025-08-08T21:38:38.965Z,1754689118.965 [DAT](INFO): Rx dataTimestamp_ set to:1754689118.965146
2025-08-08T21:38:38.970Z,1754689118.970 [DAT](INFO): DAT read: Range 11 to 50 :     0.2 m (trip time 0.1 ms) speed 0.0

2025-08-08T21:38:38.972Z,1754689118.972 [DAT](ERROR): #Rx 82: Read range message, but no direction.
2025-08-08T21:38:38.973Z,1754689118.973 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=44.617863
2025-08-08T21:38:39.220Z,1754689119.220 [DAT](INFO): DAT read: Rx Time:21:38:38.7827 

2025-08-08T21:38:39.221Z,1754689119.221 [DAT](INFO): Rx dataTimestamp_ set to:1754689119.220352
2025-08-08T21:38:39.224Z,1754689119.224 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=44.867886
2025-08-08T21:38:39.470Z,1754689119.470 [DAT](INFO): DAT read: Range 11 to 50 :     0.2 m (trip time 0.1 ms) speed 0.0

2025-08-08T21:38:39.470Z,1754689119.470 [DAT](ERROR): #Rx 83: Read range message, but no direction.
2025-08-08T21:38:39.471Z,1754689119.471 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=45.115986
2025-08-08T21:38:39.726Z,1754689119.726 [DAT](INFO): DAT read: Rx Time:21:38:39.2826 

2025-08-08T21:38:39.728Z,1754689119.728 [DAT](INFO): Rx dataTimestamp_ set to:1754689119.726536
2025-08-08T21:38:39.729Z,1754689119.729 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=45.373550
2025-08-08T21:38:39.973Z,1754689119.973 [DAT](INFO): DAT read: Range 11 to 50 :     0.0 m (trip time 0.0 ms) speed 0.0

2025-08-08T21:38:39.974Z,1754689119.974 [DAT](INFO): unknown deviceResponse_: Range 11 to 50 :     0.0 m (trip time 0.0 ms) speed 0.0

2025-08-08T21:38:39.975Z,1754689119.975 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=45.619461
2025-08-08T21:38:40.228Z,1754689120.228 [DAT](INFO): DAT read: Rx Time:21:38:39.7827 

2025-08-08T21:38:40.229Z,1754689120.229 [DAT](INFO): Rx dataTimestamp_ set to:1754689120.228410
2025-08-08T21:38:40.230Z,1754689120.230 [DAT](INFO): DAT read: Range 11 to 50 :     0.2 m (trip time 0.1 ms) speed 0.0

2025-08-08T21:38:40.231Z,1754689120.231 [DAT](ERROR): #Rx 84: Read range message, but no direction.
2025-08-08T21:38:40.231Z,1754689120.231 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=45.876274
2025-08-08T21:38:40.477Z,1754689120.477 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=46.121864
2025-08-08T21:38:40.730Z,1754689120.730 [DAT](INFO): DAT read: Rx Time:21:38:40.2827 

2025-08-08T21:38:40.730Z,1754689120.730 [DAT](INFO): Rx dataTimestamp_ set to:1754689120.729975
2025-08-08T21:38:40.731Z,1754689120.731 [DAT](INFO): DAT read: Range 11 to 50 :     0.2 m (trip time 0.1 ms) speed 0.0

2025-08-08T21:38:40.732Z,1754689120.732 [DAT](ERROR): #Rx 85: Read range message, but no direction.
2025-08-08T21:38:40.733Z,1754689120.733 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=46.377922
2025-08-08T21:38:40.981Z,1754689120.981 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=46.625774
2025-08-08T21:38:41.106Z,1754689121.106 [DockingStepper](INFO): Changing to mode: 1
2025-08-08T21:38:41.233Z,1754689121.233 [DAT](INFO): DAT read: Rx Time:21:38:40.7828 

2025-08-08T21:38:41.234Z,1754689121.234 [DAT](INFO): Rx dataTimestamp_ set to:1754689121.233228
2025-08-08T21:38:41.235Z,1754689121.235 [DAT](INFO): DAT read: Range 11 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2025-08-08T21:38:41.235Z,1754689121.235 [DAT](ERROR): #Rx 86: Read range message, but no direction.
2025-08-08T21:38:41.236Z,1754689121.236 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=46.881187
2025-08-08T21:38:41.485Z,1754689121.485 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=47.129791
2025-08-08T21:38:41.737Z,1754689121.737 [DAT](INFO): DAT read: Rx Time:21:38:41.2827 

2025-08-08T21:38:41.737Z,1754689121.737 [DAT](INFO): Rx dataTimestamp_ set to:1754689121.737216
2025-08-08T21:38:41.739Z,1754689121.739 [DAT](INFO): DAT read: Range 11 to 50 :     0.2 m (trip time 0.1 ms) speed 0.0

2025-08-08T21:38:41.739Z,1754689121.739 [DAT](ERROR): #Rx 87: Read range message, but no direction.
2025-08-08T21:38:41.740Z,1754689121.740 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=47.385311
2025-08-08T21:38:41.989Z,1754689121.989 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=47.634258
2025-08-08T21:38:42.242Z,1754689122.242 [DAT](INFO): DAT read: Rx Time:21:38:41.7828 

2025-08-08T21:38:42.242Z,1754689122.242 [DAT](INFO): Rx dataTimestamp_ set to:1754689122.242094
2025-08-08T21:38:42.244Z,1754689122.244 [DAT](INFO): DAT read: Range 11 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2025-08-08T21:38:42.244Z,1754689122.244 [DAT](ERROR): #Rx 88: Read range message, but no direction.
2025-08-08T21:38:42.245Z,1754689122.245 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=47.890057
2025-08-08T21:38:42.493Z,1754689122.493 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=48.137920
2025-08-08T21:38:42.745Z,1754689122.745 [DAT](INFO): DAT read: Rx Time:21:38:42.2827 

2025-08-08T21:38:42.745Z,1754689122.745 [DAT](INFO): Rx dataTimestamp_ set to:1754689122.745223
2025-08-08T21:38:42.747Z,1754689122.747 [DAT](INFO): DAT read: Range 11 to 50 :     0.2 m (trip time 0.1 ms) speed 0.0

2025-08-08T21:38:42.747Z,1754689122.747 [DAT](ERROR): #Rx 89: Read range message, but no direction.
2025-08-08T21:38:42.748Z,1754689122.748 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=48.393341
2025-08-08T21:38:42.997Z,1754689122.997 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=48.641903
2025-08-08T21:38:43.250Z,1754689123.250 [DAT](INFO): DAT read: Rx Time:21:38:42.7827 

2025-08-08T21:38:43.250Z,1754689123.250 [DAT](INFO): Rx dataTimestamp_ set to:1754689123.249800
2025-08-08T21:38:43.251Z,1754689123.251 [DAT](INFO): DAT read: Range 11 to 50 :     0.2 m (trip time 0.1 ms) speed 0.0

2025-08-08T21:38:43.252Z,1754689123.252 [DAT](ERROR): #Rx 90: Read range message, but no direction.
2025-08-08T21:38:43.253Z,1754689123.253 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=48.897766
2025-08-08T21:38:43.501Z,1754689123.501 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=49.145737
2025-08-08T21:38:43.753Z,1754689123.753 [DAT](INFO): DAT read: Rx Time:21:38:43.2826 

2025-08-08T21:38:43.753Z,1754689123.753 [DAT](INFO): Rx dataTimestamp_ set to:1754689123.753124
2025-08-08T21:38:43.755Z,1754689123.755 [DAT](INFO): DAT read: Range 11 to 50 :     0.0 m (trip time 0.0 ms) speed 0.0

2025-08-08T21:38:43.755Z,1754689123.755 [DAT](INFO): unknown deviceResponse_: Range 11 to 50 :     0.0 m (trip time 0.0 ms) speed 0.0

2025-08-08T21:38:43.756Z,1754689123.756 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=49.400570
2025-08-08T21:38:44.009Z,1754689124.009 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=49.654018
2025-08-08T21:38:44.261Z,1754689124.261 [DAT](INFO): DAT read: Rx Time:21:38:43.7827 

2025-08-08T21:38:44.261Z,1754689124.261 [DAT](INFO): Rx dataTimestamp_ set to:1754689124.261143
2025-08-08T21:38:44.263Z,1754689124.263 [DAT](INFO): DAT read: Range 11 to 50 :     0.2 m (trip time 0.1 ms) speed 0.0

2025-08-08T21:38:44.263Z,1754689124.263 [DAT](ERROR): #Rx 91: Read range message, but no direction.
2025-08-08T21:38:44.264Z,1754689124.264 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=49.909111
2025-08-08T21:38:44.513Z,1754689124.513 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=50.157730
2025-08-08T21:38:44.770Z,1754689124.770 [DAT](INFO): DAT read: Rx Time:21:38:44.2829 

2025-08-08T21:38:44.772Z,1754689124.772 [DAT](INFO): Rx dataTimestamp_ set to:1754689124.770395
2025-08-08T21:38:44.775Z,1754689124.775 [DAT](INFO): DAT read: Bearing 302.7,  13.8 (Local)

2025-08-08T21:38:44.775Z,1754689124.775 [DAT](INFO): Local bearing/azimuth received:
 Bearing 302.7,  13.8 (Local)

2025-08-08T21:38:44.777Z,1754689124.777 [DAT](INFO): DAT read: Range 11 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-08-08T21:38:44.782Z,1754689124.782 [DAT](INFO): DAT read: 21:38:44.2829 LVL= 21728, 17745, 22210, 26739, AGC= 32, IDX= 501, 0.12, 2.209,-2.706, 1.446,-2.818, PHS=-1.154, 0.157,-2.063, RAW= 354.0,  29.2, CAL= 353.0,  34.3, ROT= 157.0, -34.3

2025-08-08T21:38:44.783Z,1754689124.783 [DAT](INFO): got valid direction response:
 21:38:44.2829 LVL= 21728, 17745, 22210, 26739, AGC= 32, IDX= 501, 0.12, 2.209,-2.706, 1.446,-2.818, PHS=-1.154, 0.157,-2.063, RAW= 354.0,  29.2, CAL= 353.0,  34.3, ROT= 157.0, -34.3

2025-08-08T21:38:44.783Z,1754689124.783 [DAT](INFO): #Rx 92: Read range and direction messages.
2025-08-08T21:38:44.784Z,1754689124.784 [DAT](INFO): direction in FSK: [-0.760428,0.322782,0.563526]
2025-08-08T21:38:44.785Z,1754689124.785 [DAT](INFO): publishing direction and range info
2025-08-08T21:38:44.792Z,1754689124.792 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=50.437073
2025-08-08T21:38:45.017Z,1754689125.017 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=50.661880
2025-08-08T21:38:45.274Z,1754689125.274 [DAT](INFO): DAT read: Rx Time:21:38:44.7830 

2025-08-08T21:38:45.275Z,1754689125.275 [DAT](INFO): Rx dataTimestamp_ set to:1754689125.274303
2025-08-08T21:38:45.276Z,1754689125.276 [DAT](INFO): DAT read: Bearing 303.6,  11.3 (Local)

2025-08-08T21:38:45.277Z,1754689125.277 [DAT](INFO): Local bearing/azimuth received:
 Bearing 303.6,  11.3 (Local)

2025-08-08T21:38:45.279Z,1754689125.279 [DAT](INFO): DAT read: Range 11 to 50 :     0.6 m (trip time 0.4 ms) speed 0.0

2025-08-08T21:38:45.283Z,1754689125.283 [DAT](INFO): DAT read: 21:38:44.7830 LVL= 20688, 16433, 21458, 25331, AGC= 31, IDX= 502, 0.15,-2.306,-0.909,-2.941,-1.055, PHS=-1.149, 0.191,-1.930, RAW= 351.4,  28.8, CAL= 350.4,  33.8, ROT= 159.6, -33.8

2025-08-08T21:38:45.292Z,1754689125.292 [DAT](INFO): got valid direction response:
 21:38:44.7830 LVL= 20688, 16433, 21458, 25331, AGC= 31, IDX= 502, 0.15,-2.306,-0.909,-2.941,-1.055, PHS=-1.149, 0.191,-1.930, RAW= 351.4,  28.8, CAL= 350.4,  33.8, ROT= 159.6, -33.8

2025-08-08T21:38:45.293Z,1754689125.293 [DAT](INFO): #Rx 93: Read range and direction messages.
2025-08-08T21:38:45.294Z,1754689125.294 [DAT](INFO): direction in FSK: [-0.778867,0.289658,0.556296]
2025-08-08T21:38:45.294Z,1754689125.294 [DAT](INFO): publishing direction and range info
2025-08-08T21:38:45.302Z,1754689125.302 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=50.946465
2025-08-08T21:38:45.522Z,1754689125.522 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=51.166409
2025-08-08T21:38:45.779Z,1754689125.779 [DAT](INFO): DAT read: Rx Time:21:38:45.2829 

2025-08-08T21:38:45.779Z,1754689125.779 [DAT](INFO): Rx dataTimestamp_ set to:1754689125.778832
2025-08-08T21:38:45.789Z,1754689125.789 [DAT](INFO): DAT read: Bearing 304.0,   9.8 (Local)

2025-08-08T21:38:45.790Z,1754689125.790 [DAT](INFO): Local bearing/azimuth received:
 Bearing 304.0,   9.8 (Local)

2025-08-08T21:38:45.796Z,1754689125.796 [DAT](INFO): DAT read: Range 11 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-08-08T21:38:45.814Z,1754689125.814 [DAT](INFO): DAT read: 21:38:45.2829 LVL= 20112, 16065, 20866, 24979, AGC= 31, IDX= 501, 0.27, 2.822,-2.043, 2.242,-2.207, PHS=-1.152, 0.209,-1.878, RAW= 350.0,  28.5, CAL= 349.2,  33.5, ROT= 160.8, -33.5

2025-08-08T21:38:45.815Z,1754689125.815 [DAT](INFO): got valid direction response:
 21:38:45.2829 LVL= 20112, 16065, 20866, 24979, AGC= 31, IDX= 501, 0.27, 2.822,-2.043, 2.242,-2.207, PHS=-1.152, 0.209,-1.878, RAW= 350.0,  28.5, CAL= 349.2,  33.5, ROT= 160.8, -33.5

2025-08-08T21:38:45.821Z,1754689125.821 [DAT](INFO): #Rx 94: Read range and direction messages.
2025-08-08T21:38:45.822Z,1754689125.822 [DAT](INFO): direction in FSK: [-0.787502,0.274237,0.551937]
2025-08-08T21:38:45.823Z,1754689125.823 [DAT](INFO): publishing direction and range info
2025-08-08T21:38:45.838Z,1754689125.838 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=51.482449
2025-08-08T21:38:46.026Z,1754689126.026 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=51.670673
2025-08-08T21:38:46.277Z,1754689126.277 [DAT](INFO): DAT read: Rx Time:21:38:45.7831 

2025-08-08T21:38:46.278Z,1754689126.278 [DAT](INFO): Rx dataTimestamp_ set to:1754689126.277681
2025-08-08T21:38:46.279Z,1754689126.279 [DAT](INFO): DAT read: Bearing 305.7,   8.0 (Local)

2025-08-08T21:38:46.280Z,1754689126.280 [DAT](INFO): Local bearing/azimuth received:
 Bearing 305.7,   8.0 (Local)

2025-08-08T21:38:46.282Z,1754689126.282 [DAT](INFO): DAT read: Range 11 to 50 :     0.8 m (trip time 0.5 ms) speed 0.0

2025-08-08T21:38:46.286Z,1754689126.286 [DAT](INFO): DAT read: 21:38:45.7831 LVL= 19696, 16369, 20754, 24899, AGC= 31, IDX= 502, 0.48,-3.007,-1.524, 2.772,-1.762, PHS=-1.143, 0.283,-1.793, RAW= 347.8,  27.0, CAL= 347.2,  31.9, ROT= 162.8, -31.9

2025-08-08T21:38:46.287Z,1754689126.287 [DAT](INFO): got valid direction response:
 21:38:45.7831 LVL= 19696, 16369, 20754, 24899, AGC= 31, IDX= 502, 0.48,-3.007,-1.524, 2.772,-1.762, PHS=-1.143, 0.283,-1.793, RAW= 347.8,  27.0, CAL= 347.2,  31.9, ROT= 162.8, -31.9

2025-08-08T21:38:46.288Z,1754689126.288 [DAT](INFO): #Rx 95: Read range and direction messages.
2025-08-08T21:38:46.289Z,1754689126.289 [DAT](INFO): direction in FSK: [-0.811004,0.251048,0.528438]
2025-08-08T21:38:46.290Z,1754689126.290 [DAT](INFO): publishing direction and range info
2025-08-08T21:38:46.293Z,1754689126.293 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=51.938057
2025-08-08T21:38:46.530Z,1754689126.530 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=52.174435
2025-08-08T21:38:46.781Z,1754689126.781 [DAT](INFO): DAT read: Rx Time:21:38:46.2830 

2025-08-08T21:38:46.782Z,1754689126.782 [DAT](INFO): Rx dataTimestamp_ set to:1754689126.781667
2025-08-08T21:38:46.783Z,1754689126.783 [DAT](INFO): DAT read: Bearing 310.9,   6.2 (Local)

2025-08-08T21:38:46.784Z,1754689126.784 [DAT](INFO): Local bearing/azimuth received:
 Bearing 310.9,   6.2 (Local)

2025-08-08T21:38:46.786Z,1754689126.786 [DAT](INFO): DAT read: Range 11 to 50 :     0.6 m (trip time 0.4 ms) speed 0.0

2025-08-08T21:38:46.790Z,1754689126.790 [DAT](INFO): DAT read: 21:38:46.2830 LVL= 18528, 15937, 19250, 22723, AGC= 33, IDX= 502,-0.22,-0.607, 1.114,-1.070, 0.627, PHS=-1.132, 0.533,-1.741, RAW= 345.0,  22.1, CAL= 344.9,  26.8, ROT= 165.1, -26.8

2025-08-08T21:38:46.791Z,1754689126.791 [DAT](INFO): got valid direction response:
 21:38:46.2830 LVL= 18528, 15937, 19250, 22723, AGC= 33, IDX= 502,-0.22,-0.607, 1.114,-1.070, 0.627, PHS=-1.132, 0.533,-1.741, RAW= 345.0,  22.1, CAL= 344.9,  26.8, ROT= 165.1, -26.8

2025-08-08T21:38:46.792Z,1754689126.792 [DAT](INFO): #Rx 96: Read range and direction messages.
2025-08-08T21:38:46.793Z,1754689126.793 [DAT](INFO): direction in FSK: [-0.862574,0.229513,0.450878]
2025-08-08T21:38:46.793Z,1754689126.793 [DAT](INFO): publishing direction and range info
2025-08-08T21:38:46.801Z,1754689126.801 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=52.445618
2025-08-08T21:38:47.033Z,1754689127.033 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=52.677963
2025-08-08T21:38:47.285Z,1754689127.285 [DAT](INFO): DAT read: Rx Time:21:38:46.7830 

2025-08-08T21:38:47.286Z,1754689127.286 [DAT](INFO): Rx dataTimestamp_ set to:1754689127.285639
2025-08-08T21:38:47.287Z,1754689127.287 [DAT](INFO): DAT read: Bearing 310.7,   4.1 (Local)

2025-08-08T21:38:47.288Z,1754689127.288 [DAT](INFO): Local bearing/azimuth received:
 Bearing 310.7,   4.1 (Local)

2025-08-08T21:38:47.290Z,1754689127.290 [DAT](INFO): DAT read: Range 11 to 50 :     0.6 m (trip time 0.4 ms) speed 0.0

2025-08-08T21:38:47.294Z,1754689127.294 [DAT](INFO): DAT read: 21:38:46.7830 LVL= 16336, 15409, 19010, 22515, AGC= 31, IDX= 502,-0.14,-0.020, 1.704,-0.386, 1.226, PHS=-1.144, 0.523,-1.656, RAW= 343.0,  22.2, CAL= 342.8,  26.9, ROT= 167.2, -26.9

2025-08-08T21:38:47.295Z,1754689127.295 [DAT](INFO): got valid direction response:
 21:38:46.7830 LVL= 16336, 15409, 19010, 22515, AGC= 31, IDX= 502,-0.14,-0.020, 1.704,-0.386, 1.226, PHS=-1.144, 0.523,-1.656, RAW= 343.0,  22.2, CAL= 342.8,  26.9, ROT= 167.2, -26.9

2025-08-08T21:38:47.296Z,1754689127.296 [DAT](INFO): #Rx 97: Read range and direction messages.
2025-08-08T21:38:47.297Z,1754689127.297 [DAT](INFO): direction in FSK: [-0.869636,0.197576,0.452435]
2025-08-08T21:38:47.297Z,1754689127.297 [DAT](INFO): publishing direction and range info
2025-08-08T21:38:47.309Z,1754689127.309 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=52.953529
2025-08-08T21:38:47.537Z,1754689127.537 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=53.181843
2025-08-08T21:38:47.790Z,1754689127.790 [DAT](INFO): DAT read: Rx Time:21:38:47.2829 

2025-08-08T21:38:47.790Z,1754689127.790 [DAT](INFO): Rx dataTimestamp_ set to:1754689127.789827
2025-08-08T21:38:47.791Z,1754689127.791 [DAT](INFO): DAT read: Bearing 309.9,   2.3 (Local)

2025-08-08T21:38:47.792Z,1754689127.792 [DAT](INFO): Local bearing/azimuth received:
 Bearing 309.9,   2.3 (Local)

2025-08-08T21:38:47.794Z,1754689127.794 [DAT](INFO): DAT read: Range 11 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-08-08T21:38:47.798Z,1754689127.798 [DAT](INFO): DAT read: 21:38:47.2829 LVL= 17648, 16209, 19618, 24131, AGC= 31, IDX= 501,-0.08,-0.522, 1.185,-0.809, 0.739, PHS=-1.159, 0.491,-1.592, RAW= 341.4,  22.8, CAL= 341.2,  27.5, ROT= 168.8, -27.5

2025-08-08T21:38:47.799Z,1754689127.799 [DAT](INFO): got valid direction response:
 21:38:47.2829 LVL= 17648, 16209, 19618, 24131, AGC= 31, IDX= 501,-0.08,-0.522, 1.185,-0.809, 0.739, PHS=-1.159, 0.491,-1.592, RAW= 341.4,  22.8, CAL= 341.2,  27.5, ROT= 168.8, -27.5

2025-08-08T21:38:47.802Z,1754689127.802 [DAT](INFO): #Rx 98: Read range and direction messages.
2025-08-08T21:38:47.803Z,1754689127.803 [DAT](INFO): direction in FSK: [-0.870118,0.172288,0.461749]
2025-08-08T21:38:47.803Z,1754689127.803 [DAT](INFO): publishing direction and range info
2025-08-08T21:38:47.806Z,1754689127.806 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=53.451340
2025-08-08T21:38:48.041Z,1754689128.041 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=53.685806
2025-08-08T21:38:48.293Z,1754689128.293 [DAT](INFO): DAT read: Rx Time:21:38:47.7830 

2025-08-08T21:38:48.294Z,1754689128.294 [DAT](INFO): Rx dataTimestamp_ set to:1754689128.293623
2025-08-08T21:38:48.295Z,1754689128.295 [DAT](INFO): DAT read: Bearing 308.7,   1.0 (Local)

2025-08-08T21:38:48.295Z,1754689128.295 [DAT](INFO): Local bearing/azimuth received:
 Bearing 308.7,   1.0 (Local)

2025-08-08T21:38:48.298Z,1754689128.298 [DAT](INFO): DAT read: Range 11 to 50 :     0.6 m (trip time 0.4 ms) speed 0.0

2025-08-08T21:38:48.303Z,1754689128.303 [DAT](INFO): DAT read: 21:38:47.7830 LVL= 16096, 16849, 21010, 25219, AGC= 32, IDX= 502, 0.04, 1.342, 3.025, 1.105, 2.614, PHS=-1.170, 0.455,-1.553, RAW= 340.3,  23.5, CAL= 340.1,  28.2, ROT= 169.9, -28.2

2025-08-08T21:38:48.304Z,1754689128.304 [DAT](INFO): got valid direction response:
 21:38:47.7830 LVL= 16096, 16849, 21010, 25219, AGC= 32, IDX= 502, 0.04, 1.342, 3.025, 1.105, 2.614, PHS=-1.170, 0.455,-1.553, RAW= 340.3,  23.5, CAL= 340.1,  28.2, ROT= 169.9, -28.2

2025-08-08T21:38:48.304Z,1754689128.304 [DAT](INFO): #Rx 99: Read range and direction messages.
2025-08-08T21:38:48.305Z,1754689128.305 [DAT](INFO): direction in FSK: [-0.867646,0.154551,0.472551]
2025-08-08T21:38:48.306Z,1754689128.306 [DAT](INFO): publishing direction and range info
2025-08-08T21:38:48.309Z,1754689128.309 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=53.953983
2025-08-08T21:38:48.546Z,1754689128.546 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=54.190445
2025-08-08T21:38:48.797Z,1754689128.797 [DAT](INFO): DAT read: Rx Time:21:38:48.2829 

2025-08-08T21:38:48.798Z,1754689128.798 [DAT](INFO): Rx dataTimestamp_ set to:1754689128.797638
2025-08-08T21:38:48.799Z,1754689128.799 [DAT](INFO): DAT read: Bearing 307.9,   0.1 (Local)

2025-08-08T21:38:48.799Z,1754689128.799 [DAT](INFO): Local bearing/azimuth received:
 Bearing 307.9,   0.1 (Local)

2025-08-08T21:38:48.802Z,1754689128.802 [DAT](INFO): DAT read: Range 11 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-08-08T21:38:48.806Z,1754689128.806 [DAT](INFO): DAT read: 21:38:48.2829 LVL= 15248, 16881, 20978, 24787, AGC= 32, IDX= 501, 0.10, 0.812, 2.502, 0.604, 2.099, PHS=-1.185, 0.448,-1.539, RAW= 339.6,  23.7, CAL= 339.3,  28.5, ROT= 170.7, -28.5

2025-08-08T21:38:48.807Z,1754689128.807 [DAT](INFO): got valid direction response:
 21:38:48.2829 LVL= 15248, 16881, 20978, 24787, AGC= 32, IDX= 501, 0.10, 0.812, 2.502, 0.604, 2.099, PHS=-1.185, 0.448,-1.539, RAW= 339.6,  23.7, CAL= 339.3,  28.5, ROT= 170.7, -28.5

2025-08-08T21:38:48.808Z,1754689128.808 [DAT](INFO): #Rx 100: Read range and direction messages.
2025-08-08T21:38:48.809Z,1754689128.809 [DAT](INFO): direction in FSK: [-0.867266,0.142020,0.477159]
2025-08-08T21:38:48.809Z,1754689128.809 [DAT](INFO): publishing direction and range info
2025-08-08T21:38:48.821Z,1754689128.821 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=54.465454
2025-08-08T21:38:49.050Z,1754689129.050 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=54.694435
2025-08-08T21:38:49.302Z,1754689129.302 [DAT](INFO): DAT read: Rx Time:21:38:48.7830 

2025-08-08T21:38:49.302Z,1754689129.302 [DAT](INFO): Rx dataTimestamp_ set to:1754689129.301763
2025-08-08T21:38:49.303Z,1754689129.303 [DAT](INFO): DAT read: Bearing 308.0,  -0.1 (Local)

2025-08-08T21:38:49.304Z,1754689129.304 [DAT](INFO): Local bearing/azimuth received:
 Bearing 308.0,  -0.1 (Local)

2025-08-08T21:38:49.307Z,1754689129.307 [DAT](INFO): DAT read: Range 11 to 50 :     0.6 m (trip time 0.4 ms) speed 0.0

2025-08-08T21:38:49.311Z,1754689129.311 [DAT](INFO): DAT read: 21:38:48.7830 LVL= 15040, 16785, 20946, 24803, AGC= 33, IDX= 502, 0.17, 2.778,-1.808, 2.571,-2.239, PHS=-1.165, 0.476,-1.518, RAW= 339.6,  22.9, CAL= 339.3,  27.7, ROT= 170.7, -27.7

2025-08-08T21:38:49.312Z,1754689129.312 [DAT](INFO): got valid direction response:
 21:38:48.7830 LVL= 15040, 16785, 20946, 24803, AGC= 33, IDX= 502, 0.17, 2.778,-1.808, 2.571,-2.239, PHS=-1.165, 0.476,-1.518, RAW= 339.6,  22.9, CAL= 339.3,  27.7, ROT= 170.7, -27.7

2025-08-08T21:38:49.313Z,1754689129.313 [DAT](INFO): #Rx 101: Read range and direction messages.
2025-08-08T21:38:49.314Z,1754689129.314 [DAT](INFO): direction in FSK: [-0.873756,0.143083,0.464842]
2025-08-08T21:38:49.314Z,1754689129.314 [DAT](INFO): publishing direction and range info
2025-08-08T21:38:49.318Z,1754689129.318 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=54.962940
2025-08-08T21:38:49.553Z,1754689129.553 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=55.198189
2025-08-08T21:38:49.805Z,1754689129.805 [DAT](INFO): DAT read: Rx Time:21:38:49.2829 

2025-08-08T21:38:49.806Z,1754689129.806 [DAT](INFO): Rx dataTimestamp_ set to:1754689129.805660
2025-08-08T21:38:49.807Z,1754689129.807 [DAT](INFO): DAT read: Bearing 307.7,  -1.6 (Local)

2025-08-08T21:38:49.808Z,1754689129.808 [DAT](INFO): Local bearing/azimuth received:
 Bearing 307.7,  -1.6 (Local)

2025-08-08T21:38:49.810Z,1754689129.810 [DAT](INFO): DAT read: Range 11 to 50 :     0.5 m (trip time 0.3 ms) speed 0.0

2025-08-08T21:38:49.815Z,1754689129.815 [DAT](INFO): DAT read: 21:38:49.2829 LVL= 14896, 17089, 21106, 25683, AGC= 33, IDX= 501, 0.27, 1.656,-2.888, 1.500, 2.938, PHS=-1.180, 0.502,-1.483, RAW= 338.1,  22.4, CAL= 337.9,  27.2, ROT= 172.1, -27.2

2025-08-08T21:38:49.817Z,1754689129.817 [DAT](INFO): got valid direction response:
 21:38:49.2829 LVL= 14896, 17089, 21106, 25683, AGC= 33, IDX= 501, 0.27, 1.656,-2.888, 1.500, 2.938, PHS=-1.180, 0.502,-1.483, RAW= 338.1,  22.4, CAL= 337.9,  27.2, ROT= 172.1, -27.2

2025-08-08T21:38:49.817Z,1754689129.817 [DAT](INFO): #Rx 102: Read range and direction messages.
2025-08-08T21:38:49.819Z,1754689129.819 [DAT](INFO): direction in FSK: [-0.880975,0.122245,0.457098]
2025-08-08T21:38:49.819Z,1754689129.819 [DAT](INFO): publishing direction and range info
2025-08-08T21:38:49.841Z,1754689129.841 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=55.485748
2025-08-08T21:38:50.057Z,1754689130.057 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=55.701889
2025-08-08T21:38:50.309Z,1754689130.309 [DAT](INFO): DAT read: Rx Time:21:38:49.7830 

2025-08-08T21:38:50.310Z,1754689130.310 [DAT](INFO): Rx dataTimestamp_ set to:1754689130.309583
2025-08-08T21:38:50.311Z,1754689130.311 [DAT](INFO): DAT read: Bearing 307.2,  -2.4 (Local)

2025-08-08T21:38:50.311Z,1754689130.311 [DAT](INFO): Local bearing/azimuth received:
 Bearing 307.2,  -2.4 (Local)

2025-08-08T21:38:50.314Z,1754689130.314 [DAT](INFO): DAT read: Range 11 to 50 :     0.6 m (trip time 0.4 ms) speed 0.0

2025-08-08T21:38:50.318Z,1754689130.318 [DAT](INFO): DAT read: 21:38:49.7830 LVL= 15440, 15569, 20882, 24115, AGC= 34, IDX= 502, 0.36,-2.579,-0.841,-2.707,-1.310, PHS=-1.166, 0.515,-1.441, RAW= 337.5,  22.0, CAL= 337.3,  26.7, ROT= 172.7, -26.7

2025-08-08T21:38:50.319Z,1754689130.319 [DAT](INFO): got valid direction response:
 21:38:49.7830 LVL= 15440, 15569, 20882, 24115, AGC= 34, IDX= 502, 0.36,-2.579,-0.841,-2.707,-1.310, PHS=-1.166, 0.515,-1.441, RAW= 337.5,  22.0, CAL= 337.3,  26.7, ROT= 172.7, -26.7

2025-08-08T21:38:50.320Z,1754689130.320 [DAT](INFO): #Rx 103: Read range and direction messages.
2025-08-08T21:38:50.321Z,1754689130.321 [DAT](INFO): direction in FSK: [-0.886130,0.113516,0.449319]
2025-08-08T21:38:50.321Z,1754689130.321 [DAT](INFO): publishing direction and range info
2025-08-08T21:38:50.325Z,1754689130.325 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=55.969379
2025-08-08T21:38:50.563Z,1754689130.563 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=56.207649
2025-08-08T21:38:50.813Z,1754689130.813 [DAT](INFO): DAT read: Rx Time:21:38:50.2828 

2025-08-08T21:38:50.814Z,1754689130.814 [DAT](INFO): Rx dataTimestamp_ set to:1754689130.813633
2025-08-08T21:38:50.815Z,1754689130.815 [DAT](INFO): DAT read: Bearing 308.9,  -3.3 (Local)

2025-08-08T21:38:50.815Z,1754689130.815 [DAT](INFO): Local bearing/azimuth received:
 Bearing 308.9,  -3.3 (Local)

2025-08-08T21:38:50.834Z,1754689130.834 [DAT](INFO): DAT read: Range 11 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2025-08-08T21:38:50.872Z,1754689130.872 [DAT](INFO): DAT read: 21:38:50.2828 LVL= 17728, 16529, 24002, 28243, AGC= 33, IDX= 502,-0.36,-0.217, 1.663,-0.339, 1.057, PHS=-1.172, 0.651,-1.440, RAW= 336.8,  19.4, CAL= 336.8,  24.0, ROT= 173.2, -24.0

2025-08-08T21:38:50.873Z,1754689130.873 [DAT](INFO): got valid direction response:
 21:38:50.2828 LVL= 17728, 16529, 24002, 28243, AGC= 33, IDX= 502,-0.36,-0.217, 1.663,-0.339, 1.057, PHS=-1.172, 0.651,-1.440, RAW= 336.8,  19.4, CAL= 336.8,  24.0, ROT= 173.2, -24.0

2025-08-08T21:38:50.874Z,1754689130.874 [DAT](INFO): #Rx 104: Read range and direction messages.
2025-08-08T21:38:50.875Z,1754689130.875 [DAT](INFO): direction in FSK: [-0.907119,0.108168,0.406737]
2025-08-08T21:38:50.875Z,1754689130.875 [DAT](INFO): publishing direction and range info
2025-08-08T21:38:50.886Z,1754689130.886 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=56.531300
2025-08-08T21:38:51.065Z,1754689131.065 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=56.709709
2025-08-08T21:38:51.234Z,1754689131.234 [DockingStepper](FAULT): Timed out moving from: 12528 to: 14700 response: ÿ
2025-08-08T21:38:51.235Z,1754689131.235 [DockingStepper] Hardware Fault, FailCount= 3
2025-08-08T21:38:51.235Z,1754689131.235 [DockingStepper](ERROR): Hardware Fault
2025-08-08T21:38:51.278Z,1754689131.278 [CBIT](ERROR): Hardware Fault in component: DockingStepper
2025-08-08T21:38:51.318Z,1754689131.318 [DAT](INFO): DAT read: Rx Time:21:38:50.7828 

2025-08-08T21:38:51.318Z,1754689131.318 [DAT](INFO): Rx dataTimestamp_ set to:1754689131.317806
2025-08-08T21:38:51.319Z,1754689131.319 [DAT](INFO): DAT read: Bearing 308.1,  -4.2 (Local)

2025-08-08T21:38:51.320Z,1754689131.320 [DAT](INFO): Local bearing/azimuth received:
 Bearing 308.1,  -4.2 (Local)

2025-08-08T21:38:51.322Z,1754689131.322 [DAT](INFO): DAT read: Range 11 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2025-08-08T21:38:51.326Z,1754689131.326 [DAT](INFO): DAT read: 21:38:50.7828 LVL= 18416, 15329, 24610, 27315, AGC= 35, IDX= 502,-0.23, 0.083, 1.924,-0.012, 1.332, PHS=-1.146, 0.637,-1.387, RAW= 336.3,  19.3, CAL= 336.2,  23.9, ROT= 173.8, -23.9

2025-08-08T21:38:51.327Z,1754689131.327 [DAT](INFO): got valid direction response:
 21:38:50.7828 LVL= 18416, 15329, 24610, 27315, AGC= 35, IDX= 502,-0.23, 0.083, 1.924,-0.012, 1.332, PHS=-1.146, 0.637,-1.387, RAW= 336.3,  19.3, CAL= 336.2,  23.9, ROT= 173.8, -23.9

2025-08-08T21:38:51.328Z,1754689131.328 [DAT](INFO): #Rx 105: Read range and direction messages.
2025-08-08T21:38:51.329Z,1754689131.329 [DAT](INFO): direction in FSK: [-0.908906,0.098739,0.405142]
2025-08-08T21:38:51.329Z,1754689131.329 [DAT](INFO): publishing direction and range info
2025-08-08T21:38:51.333Z,1754689131.333 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=56.977547
2025-08-08T21:38:51.445Z,1754689131.445 [DockingStepper](DEBUG): Uninitialize Docking Stepper.
2025-08-08T21:38:51.445Z,1754689131.445 [DockingStepper](INFO): Powering down
2025-08-08T21:38:51.569Z,1754689131.569 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=57.213848
2025-08-08T21:38:51.821Z,1754689131.821 [DAT](INFO): DAT read: Rx Time:21:38:51.2827 

2025-08-08T21:38:51.822Z,1754689131.822 [DAT](INFO): Rx dataTimestamp_ set to:1754689131.821655
2025-08-08T21:38:51.823Z,1754689131.823 [DAT](INFO): DAT read: Bearing 305.8,  -5.8 (Local)

2025-08-08T21:38:51.823Z,1754689131.823 [DAT](INFO): Local bearing/azimuth received:
 Bearing 305.8,  -5.8 (Local)

2025-08-08T21:38:51.826Z,1754689131.826 [DAT](INFO): DAT read: Range 11 to 50 :     0.2 m (trip time 0.1 ms) speed 0.0

2025-08-08T21:38:51.830Z,1754689131.830 [DAT](INFO): DAT read: 21:38:51.2827 LVL= 22608, 14897, 29090, 30915, AGC= 35, IDX= 501,-0.13,-0.270, 1.497,-0.314, 0.976, PHS=-1.144, 0.566,-1.334, RAW= 335.2,  20.5, CAL= 335.1,  25.1, ROT= 174.9, -25.1

2025-08-08T21:38:51.831Z,1754689131.831 [DAT](INFO): got valid direction response:
 21:38:51.2827 LVL= 22608, 14897, 29090, 30915, AGC= 35, IDX= 501,-0.13,-0.270, 1.497,-0.314, 0.976, PHS=-1.144, 0.566,-1.334, RAW= 335.2,  20.5, CAL= 335.1,  25.1, ROT= 174.9, -25.1

2025-08-08T21:38:51.832Z,1754689131.832 [DAT](INFO): #Rx 106: Read range and direction messages.
2025-08-08T21:38:51.833Z,1754689131.833 [DAT](INFO): direction in FSK: [-0.901984,0.080500,0.424199]
2025-08-08T21:38:51.833Z,1754689131.833 [DAT](INFO): publishing direction and range info
2025-08-08T21:38:51.843Z,1754689131.843 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=57.487534
2025-08-08T21:38:52.074Z,1754689132.074 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=57.718273
2025-08-08T21:38:52.325Z,1754689132.325 [DAT](INFO): DAT read: Rx Time:21:38:51.7828 

2025-08-08T21:38:52.326Z,1754689132.326 [DAT](INFO): Rx dataTimestamp_ set to:1754689132.325657
2025-08-08T21:38:52.327Z,1754689132.327 [DAT](INFO): DAT read: Bearing 303.3,  -7.3 (Local)

2025-08-08T21:38:52.328Z,1754689132.328 [DAT](INFO): Local bearing/azimuth received:
 Bearing 303.3,  -7.3 (Local)

2025-08-08T21:38:52.330Z,1754689132.330 [DAT](INFO): DAT read: Range 11 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2025-08-08T21:38:52.334Z,1754689132.334 [DAT](INFO): DAT read: 21:38:51.7828 LVL= 25680, 13537, 30690, 31923, AGC= 34, IDX= 502,-0.05, 1.075, 2.738, 1.077, 2.304, PHS=-1.127, 0.479,-1.271, RAW= 334.3,  22.0, CAL= 334.0,  26.7, ROT= 176.0, -26.7

2025-08-08T21:38:52.335Z,1754689132.335 [DAT](INFO): got valid direction response:
 21:38:51.7828 LVL= 25680, 13537, 30690, 31923, AGC= 34, IDX= 502,-0.05, 1.075, 2.738, 1.077, 2.304, PHS=-1.127, 0.479,-1.271, RAW= 334.3,  22.0, CAL= 334.0,  26.7, ROT= 176.0, -26.7

2025-08-08T21:38:52.336Z,1754689132.336 [DAT](INFO): #Rx 107: Read range and direction messages.
2025-08-08T21:38:52.337Z,1754689132.337 [DAT](INFO): direction in FSK: [-0.891195,0.062318,0.449319]
2025-08-08T21:38:52.337Z,1754689132.337 [DAT](INFO): publishing direction and range info
2025-08-08T21:38:52.341Z,1754689132.341 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=57.985474
2025-08-08T21:38:52.577Z,1754689132.577 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=58.221859
2025-08-08T21:38:52.830Z,1754689132.830 [DAT](INFO): DAT read: Rx Time:21:38:52.2827 

2025-08-08T21:38:52.830Z,1754689132.830 [DAT](INFO): Rx dataTimestamp_ set to:1754689132.829933
2025-08-08T21:38:52.832Z,1754689132.832 [DAT](INFO): DAT read: Range 11 to 50 :     0.2 m (trip time 0.1 ms) speed 0.0

2025-08-08T21:38:52.833Z,1754689132.833 [DAT](ERROR): #Rx 108: Read range message, but no direction.
2025-08-08T21:38:52.834Z,1754689132.834 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=58.479191
2025-08-08T21:38:53.082Z,1754689133.082 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=58.726631
2025-08-08T21:38:53.333Z,1754689133.333 [DAT](INFO): DAT read: Rx Time:21:38:52.7828 

2025-08-08T21:38:53.334Z,1754689133.334 [DAT](INFO): Rx dataTimestamp_ set to:1754689133.333682
2025-08-08T21:38:53.335Z,1754689133.335 [DAT](INFO): DAT read: Bearing 297.9,  -9.6 (Local)

2025-08-08T21:38:53.336Z,1754689133.336 [DAT](INFO): Local bearing/azimuth received:
 Bearing 297.9,  -9.6 (Local)

2025-08-08T21:38:53.338Z,1754689133.338 [DAT](INFO): DAT read: Range 11 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2025-08-08T21:38:53.342Z,1754689133.342 [DAT](INFO): DAT read: 21:38:52.7828 LVL= 28944, 11809, 32114, 31059, AGC= 33, IDX= 502, 0.06,-2.307,-0.643,-2.265,-0.958, PHS=-1.247, 0.360,-1.351, RAW= 333.1,  25.5, CAL= 332.7,  30.4, ROT= 177.3, -30.4

2025-08-08T21:38:53.343Z,1754689133.343 [DAT](INFO): got valid direction response:
 21:38:52.7828 LVL= 28944, 11809, 32114, 31059, AGC= 33, IDX= 502, 0.06,-2.307,-0.643,-2.265,-0.958, PHS=-1.247, 0.360,-1.351, RAW= 333.1,  25.5, CAL= 332.7,  30.4, ROT= 177.3, -30.4

2025-08-08T21:38:53.352Z,1754689133.352 [DAT](INFO): #Rx 109: Read range and direction messages.
2025-08-08T21:38:53.353Z,1754689133.353 [DAT](INFO): direction in FSK: [-0.861556,0.040630,0.506034]
2025-08-08T21:38:53.353Z,1754689133.353 [DAT](INFO): publishing direction and range info
2025-08-08T21:38:53.361Z,1754689133.361 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=59.006229
2025-08-08T21:38:53.585Z,1754689133.585 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=59.229748
2025-08-08T21:38:53.839Z,1754689133.839 [DAT](INFO): DAT read: Rx Time:21:38:53.2827 

2025-08-08T21:38:53.839Z,1754689133.839 [DAT](INFO): Rx dataTimestamp_ set to:1754689133.839125
2025-08-08T21:38:53.841Z,1754689133.841 [DAT](INFO): DAT read: Bearing 297.9,  -8.1 (Local)

2025-08-08T21:38:53.842Z,1754689133.842 [DAT](INFO): Local bearing/azimuth received:
 Bearing 297.9,  -8.1 (Local)

2025-08-08T21:38:53.845Z,1754689133.845 [DAT](INFO): DAT read: Range 11 to 50 :     0.2 m (trip time 0.1 ms) speed 0.0

2025-08-08T21:38:53.851Z,1754689133.851 [DAT](INFO): DAT read: 21:38:53.2827 LVL= 29296, 10801, 31522, 29683, AGC= 32, IDX= 501, 0.13, 2.890,-1.761, 2.855,-2.094, PHS=-1.197, 0.378,-1.378, RAW= 335.4,  24.9, CAL= 335.0,  29.8, ROT= 175.0, -29.8

2025-08-08T21:38:53.853Z,1754689133.853 [DAT](INFO): got valid direction response:
 21:38:53.2827 LVL= 29296, 10801, 31522, 29683, AGC= 32, IDX= 501, 0.13, 2.890,-1.761, 2.855,-2.094, PHS=-1.197, 0.378,-1.378, RAW= 335.4,  24.9, CAL= 335.0,  29.8, ROT= 175.0, -29.8

2025-08-08T21:38:53.854Z,1754689133.854 [DAT](INFO): #Rx 110: Read range and direction messages.
2025-08-08T21:38:53.855Z,1754689133.855 [DAT](INFO): direction in FSK: [-0.864463,0.075631,0.496974]
2025-08-08T21:38:53.855Z,1754689133.855 [DAT](INFO): publishing direction and range info
2025-08-08T21:38:53.873Z,1754689133.873 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=59.517689
2025-08-08T21:38:54.089Z,1754689134.089 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=59.733654
2025-08-08T21:38:54.341Z,1754689134.341 [DAT](INFO): DAT read: Rx Time:21:38:53.7828 

2025-08-08T21:38:54.342Z,1754689134.342 [DAT](INFO): Rx dataTimestamp_ set to:1754689134.341582
2025-08-08T21:38:54.343Z,1754689134.343 [DAT](INFO): DAT read: Bearing 296.3, -10.3 (Local)

2025-08-08T21:38:54.343Z,1754689134.343 [DAT](INFO): Local bearing/azimuth received:
 Bearing 296.3, -10.3 (Local)

2025-08-08T21:38:54.346Z,1754689134.346 [DAT](INFO): DAT read: Range 11 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2025-08-08T21:38:54.350Z,1754689134.350 [DAT](INFO): DAT read: 21:38:53.7828 LVL= 26992, 13697, 29266, 26611, AGC= 34, IDX= 502, 0.19,-1.489, 0.178,-1.452,-0.131, PHS=-1.257, 0.354,-1.365, RAW= 333.2,  25.7, CAL= 332.8,  30.7, ROT= 177.2, -30.7

2025-08-08T21:38:54.351Z,1754689134.351 [DAT](INFO): got valid direction response:
 21:38:53.7828 LVL= 26992, 13697, 29266, 26611, AGC= 34, IDX= 502, 0.19,-1.489, 0.178,-1.452,-0.131, PHS=-1.257, 0.354,-1.365, RAW= 333.2,  25.7, CAL= 332.8,  30.7, ROT= 177.2, -30.7

2025-08-08T21:38:54.352Z,1754689134.352 [DAT](INFO): #Rx 111: Read range and direction messages.
2025-08-08T21:38:54.353Z,1754689134.353 [DAT](INFO): direction in FSK: [-0.858826,0.042004,0.510543]
2025-08-08T21:38:54.353Z,1754689134.353 [DAT](INFO): publishing direction and range info
2025-08-08T21:38:54.362Z,1754689134.362 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=60.006863
2025-08-08T21:38:54.596Z,1754689134.596 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=60.239914
2025-08-08T21:38:54.846Z,1754689134.846 [DAT](INFO): DAT read: Rx Time:21:38:54.2828 

2025-08-08T21:38:54.846Z,1754689134.846 [DAT](INFO): Rx dataTimestamp_ set to:1754689134.845874
2025-08-08T21:38:54.848Z,1754689134.848 [DAT](INFO): DAT read: Range 11 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2025-08-08T21:38:54.849Z,1754689134.849 [DAT](ERROR): #Rx 112: Read range message, but no direction.
2025-08-08T21:38:54.851Z,1754689134.851 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=60.495132
2025-08-08T21:38:55.097Z,1754689135.097 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=60.741718
2025-08-08T21:38:55.349Z,1754689135.349 [DAT](INFO): DAT read: Rx Time:21:38:54.7828 

2025-08-08T21:38:55.350Z,1754689135.350 [DAT](INFO): Rx dataTimestamp_ set to:1754689135.349296
2025-08-08T21:38:55.351Z,1754689135.351 [DAT](INFO): DAT read: Range 11 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2025-08-08T21:38:55.351Z,1754689135.351 [DAT](ERROR): #Rx 113: Read range message, but no direction.
2025-08-08T21:38:55.352Z,1754689135.352 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=60.997238
2025-08-08T21:38:55.603Z,1754689135.603 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=61.247875
2025-08-08T21:38:55.854Z,1754689135.854 [DAT](INFO): DAT read: Rx Time:21:38:55.2827 

2025-08-08T21:38:55.854Z,1754689135.854 [DAT](INFO): Rx dataTimestamp_ set to:1754689135.853974
2025-08-08T21:38:55.856Z,1754689135.856 [DAT](INFO): DAT read: Range 11 to 50 :     0.2 m (trip time 0.1 ms) speed 0.0

2025-08-08T21:38:55.857Z,1754689135.857 [DAT](ERROR): #Rx 114: Read range message, but no direction.
2025-08-08T21:38:55.858Z,1754689135.858 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=61.503185
2025-08-08T21:38:56.105Z,1754689136.105 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=61.749847
2025-08-08T21:38:56.357Z,1754689136.357 [DAT](INFO): DAT read: Rx Time:21:38:55.7828 

2025-08-08T21:38:56.358Z,1754689136.358 [DAT](INFO): Rx dataTimestamp_ set to:1754689136.357564
2025-08-08T21:38:56.359Z,1754689136.359 [DAT](INFO): DAT read: Bearing 299.4,  -6.9 (Local)

2025-08-08T21:38:56.359Z,1754689136.359 [DAT](INFO): Local bearing/azimuth received:
 Bearing 299.4,  -6.9 (Local)

2025-08-08T21:38:56.362Z,1754689136.362 [DAT](INFO): DAT read: Range 11 to 50 :     0.3 m (trip time 0.2 ms) speed 0.0

2025-08-08T21:38:56.366Z,1754689136.366 [DAT](INFO): DAT read: 21:38:55.7828 LVL= 29008, 10465, 32754, 32755, AGC= 32, IDX= 502,-0.02, 0.062, 1.700,-0.012, 1.271, PHS=-1.107, 0.475,-1.327, RAW= 336.4,  22.1, CAL= 336.2,  26.9, ROT= 173.8, -26.9

2025-08-08T21:38:56.367Z,1754689136.367 [DAT](INFO): got valid direction response:
 21:38:55.7828 LVL= 29008, 10465, 32754, 32755, AGC= 32, IDX= 502,-0.02, 0.062, 1.700,-0.012, 1.271, PHS=-1.107, 0.475,-1.327, RAW= 336.4,  22.1, CAL= 336.2,  26.9, ROT= 173.8, -26.9

2025-08-08T21:38:56.368Z,1754689136.368 [DAT](INFO): #Rx 115: Read range and direction messages.
2025-08-08T21:38:56.369Z,1754689136.369 [DAT](INFO): direction in FSK: [-0.886581,0.096314,0.452435]
2025-08-08T21:38:56.369Z,1754689136.369 [DAT](INFO): publishing direction and range info
2025-08-08T21:38:56.381Z,1754689136.381 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=62.025970
2025-08-08T21:38:56.611Z,1754689136.611 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=62.255737
2025-08-08T21:38:56.861Z,1754689136.861 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=62.506268
2025-08-08T21:38:57.113Z,1754689137.113 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=62.757748
2025-08-08T21:38:57.365Z,1754689137.365 [DAT](DEBUG): Acoustic response timeout
2025-08-08T21:38:57.365Z,1754689137.365 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-08T21:38:57.619Z,1754689137.619 [DAT](INFO): DAT read: user:1229>

2025-08-08T21:38:57.622Z,1754689137.622 [DAT](INFO): DAT read: Tx time:21:38:57.3530

2025-08-08T21:38:57.623Z,1754689137.623 [DAT](INFO): Ping request sent.
2025-08-08T21:38:57.623Z,1754689137.623 [DAT](INFO): transmitted an acoustic signal
2025-08-08T21:38:57.623Z,1754689137.623 [DAT](INFO): publishing transmit ping time
2025-08-08T21:38:57.626Z,1754689137.626 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002788
2025-08-08T21:38:57.869Z,1754689137.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.246833
2025-08-08T21:38:58.121Z,1754689138.121 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.498274
2025-08-08T21:38:58.373Z,1754689138.373 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.750301
2025-08-08T21:38:58.628Z,1754689138.628 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004695
2025-08-08T21:38:58.877Z,1754689138.877 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.254189
2025-08-08T21:38:59.129Z,1754689139.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506284
2025-08-08T21:38:59.381Z,1754689139.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758176
2025-08-08T21:38:59.635Z,1754689139.635 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011827
2025-08-08T21:38:59.885Z,1754689139.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262358
2025-08-08T21:39:00.137Z,1754689140.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514223
2025-08-08T21:39:00.389Z,1754689140.389 [DAT](INFO): DAT read: Rx Time:21:38:59.7583

2025-08-08T21:39:00.389Z,1754689140.389 [DAT](INFO): Rx dataTimestamp_ set to:1754689140.389058
2025-08-08T21:39:00.390Z,1754689140.390 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767307
2025-08-08T21:39:00.648Z,1754689140.648 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024772
2025-08-08T21:39:00.896Z,1754689140.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272603
2025-08-08T21:39:01.155Z,1754689141.155 [DAT](INFO): DAT read: 21:38:59.7583 LVL= 14688, 11457, 14674, 17779, AGC= 35, IDX= 216,-0.01, 0.161, 1.913, 0.105, 1.425, PHS=-1.162, 0.534,-1.364, RAW= 335.6,  21.3, CAL= 335.4,  26.0, ROT= 174.6, -26.0

2025-08-08T21:39:01.158Z,1754689141.158 [DAT](INFO): got valid direction response:
 21:38:59.7583 LVL= 14688, 11457, 14674, 17779, AGC= 35, IDX= 216,-0.01, 0.161, 1.913, 0.105, 1.425, PHS=-1.162, 0.534,-1.364, RAW= 335.6,  21.3, CAL= 335.4,  26.0, ROT= 174.6, -26.0

2025-08-08T21:39:01.159Z,1754689141.159 [DAT](INFO): DAT read: Bearing 301.1,  -2.9 (Local)

2025-08-08T21:39:01.160Z,1754689141.160 [DAT](INFO): Local bearing/azimuth received:
 Bearing 301.1,  -2.9 (Local)

2025-08-08T21:39:01.162Z,1754689141.162 [DAT](INFO): DAT read: Range 11 to 50 : 0.8 m  (Round-trip  1.1 ms) speed  0.0 m/s

2025-08-08T21:39:01.163Z,1754689141.163 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-08T21:39:01.166Z,1754689141.166 [DAT](INFO): direction in FSK: [-0.894805,0.084584,0.438371]
2025-08-08T21:39:01.166Z,1754689141.166 [DAT](INFO): publishing direction and range info
2025-08-08T21:39:12.147Z,1754689152.147 [CBIT](INFO): Clearing failed state for component DockingStepper
2025-08-08T21:39:12.147Z,1754689152.147 [DockingStepper] No Fault, FailCount= 3
2025-08-08T21:39:12.457Z,1754689152.457 [DockingStepper](DEBUG): Initializing EZServoServo.
2025-08-08T21:39:12.457Z,1754689152.457 [DockingStepper](DEBUG): Initializing DockingStepper.
2025-08-08T21:39:16.005Z,1754689156.005 [DockingStepper](INFO): Changing to mode: 1
2025-08-08T21:39:25.785Z,1754689165.785 [DockingStepper](FAULT): Timed out moving from: 13072 to: 14700 response: ÿ
2025-08-08T21:39:25.785Z,1754689165.785 [DockingStepper] Hardware Fault, FailCount= 4
2025-08-08T21:39:25.785Z,1754689165.785 [DockingStepper](ERROR): Hardware Fault
2025-08-08T21:39:25.823Z,1754689165.823 [CBIT](ERROR): Hardware Fault in component: DockingStepper
2025-08-08T21:39:26.169Z,1754689166.169 [DockingStepper](DEBUG): Uninitialize Docking Stepper.
2025-08-08T21:39:26.169Z,1754689166.169 [DockingStepper](INFO): Powering down
2025-08-08T21:39:46.259Z,1754689186.259 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): Done checking for power/comms, continuing with slide
2025-08-08T21:39:46.259Z,1754689186.259 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): Slide state transition from 1 to 2
2025-08-08T21:39:46.291Z,1754689186.291 [DAT](IMPORTANT): Requesting device enable clr for address 50.
2025-08-08T21:39:46.541Z,1754689186.541 [DAT](INFO): DAT read: user:1230>

2025-08-08T21:39:46.541Z,1754689186.541 [DAT](INFO): DAT read: Tx time:21:39:46.3019

2025-08-08T21:39:46.542Z,1754689186.542 [DAT](INFO): Ping request sent.
2025-08-08T21:39:46.542Z,1754689186.542 [DAT](INFO): transmitted an acoustic signal
2025-08-08T21:39:46.542Z,1754689186.542 [DAT](INFO): publishing transmit ping time
2025-08-08T21:39:46.543Z,1754689186.543 [DAT](IMPORTANT): Requesting device enable clr for address 50.
2025-08-08T21:39:46.727Z,1754689186.727 [CBIT](INFO): Clearing failed state for component DockingStepper
2025-08-08T21:39:46.727Z,1754689186.727 [DockingStepper] No Fault, FailCount= 4
2025-08-08T21:39:46.793Z,1754689186.793 [DAT](IMPORTANT): Requesting device enable clr for address 50.
2025-08-08T21:39:47.111Z,1754689187.111 [DockingStepper](DEBUG): Initializing EZServoServo.
2025-08-08T21:39:47.112Z,1754689187.112 [DockingStepper](DEBUG): Initializing DockingStepper.
2025-08-08T21:39:48.809Z,1754689188.809 [DAT](INFO): DAT read: Rx Time:21:39:48.1901

2025-08-08T21:39:48.809Z,1754689188.809 [DAT](INFO): Rx dataTimestamp_ set to:1754689188.808997
2025-08-08T21:39:49.572Z,1754689189.572 [DAT](INFO): DAT read: 21:39:48.1901 LVL= 17232,  8881, 17138, 20371, AGC= 32, IDX= 269, 0.33,-1.421,-0.754,-1.921,-0.175, PHS=-1.144,-0.534,-1.790, RAW=   0.9,  48.4, CAL= 359.6,  52.6, ROT= 150.4, -52.6

2025-08-08T21:39:49.573Z,1754689189.573 [DAT](INFO): got valid direction response:
 21:39:48.1901 LVL= 17232,  8881, 17138, 20371, AGC= 32, IDX= 269, 0.33,-1.421,-0.754,-1.921,-0.175, PHS=-1.144,-0.534,-1.790, RAW=   0.9,  48.4, CAL= 359.6,  52.6, ROT= 150.4, -52.6

2025-08-08T21:39:49.574Z,1754689189.574 [DAT](INFO): DAT read: OK

2025-08-08T21:39:49.575Z,1754689189.575 [DAT](INFO): unknown deviceResponse_: OK

2025-08-08T21:39:49.575Z,1754689189.575 [DAT](INFO): DAT read: user:1231>

2025-08-08T21:39:49.577Z,1754689189.577 [DAT](INFO): DAT read: Tx time:21:39:49.3020

2025-08-08T21:39:49.577Z,1754689189.577 [DAT](INFO): Ping request sent.
2025-08-08T21:39:49.577Z,1754689189.577 [DAT](INFO): transmitted an acoustic signal
2025-08-08T21:39:49.578Z,1754689189.578 [DAT](INFO): #Rx 2: Read direction message, but no range.
2025-08-08T21:39:49.579Z,1754689189.579 [DAT](INFO): direction in FSK: [-0.528110,0.300008,0.794415]
2025-08-08T21:39:49.581Z,1754689189.581 [DAT](INFO): publishing transmit ping time
2025-08-08T21:39:49.586Z,1754689189.586 [DAT](INFO): publishing transmit ping time
2025-08-08T21:39:50.829Z,1754689190.829 [DockingStepper](INFO): Changing to mode: 4
2025-08-08T21:39:51.833Z,1754689191.833 [DAT](INFO): DAT read: Rx Time:21:39:51.1902

2025-08-08T21:39:51.834Z,1754689191.834 [DAT](INFO): Rx dataTimestamp_ set to:1754689191.833626
2025-08-08T21:39:52.593Z,1754689192.593 [DAT](INFO): DAT read: 21:39:51.1902 LVL= 22080, 19345, 27106, 30115, AGC= 33, IDX= 446, 0.27,-2.569,-1.824,-3.062,-1.265, PHS=-1.202,-0.514,-1.841, RAW= 358.8,  47.6, CAL= 357.5,  51.8, ROT= 152.5, -51.8

2025-08-08T21:39:52.594Z,1754689192.594 [DAT](INFO): got valid direction response:
 21:39:51.1902 LVL= 22080, 19345, 27106, 30115, AGC= 33, IDX= 446, 0.27,-2.569,-1.824,-3.062,-1.265, PHS=-1.202,-0.514,-1.841, RAW= 358.8,  47.6, CAL= 357.5,  51.8, ROT= 152.5, -51.8

2025-08-08T21:39:52.594Z,1754689192.594 [DAT](INFO): DAT read: OK

2025-08-08T21:39:52.595Z,1754689192.595 [DAT](INFO): unknown deviceResponse_: OK

2025-08-08T21:39:52.595Z,1754689192.595 [DAT](INFO): DAT read: user:1232>

2025-08-08T21:39:52.596Z,1754689192.596 [DAT](INFO): DAT read: Tx time:21:39:52.3020

2025-08-08T21:39:52.596Z,1754689192.596 [DAT](INFO): Ping request sent.
2025-08-08T21:39:52.596Z,1754689192.596 [DAT](INFO): transmitted an acoustic signal
2025-08-08T21:39:52.597Z,1754689192.597 [DAT](INFO): #Rx 3: Read direction message, but no range.
2025-08-08T21:39:52.597Z,1754689192.597 [DAT](INFO): direction in FSK: [-0.548535,0.285549,0.785857]
2025-08-08T21:39:52.598Z,1754689192.598 [DAT](INFO): publishing transmit ping time
2025-08-08T21:39:52.601Z,1754689192.601 [DAT](INFO): publishing transmit ping time
2025-08-08T21:39:54.857Z,1754689194.857 [DAT](INFO): DAT read: Rx Time:21:39:54.1905

2025-08-08T21:39:54.858Z,1754689194.858 [DAT](INFO): Rx dataTimestamp_ set to:1754689194.857677
2025-08-08T21:39:55.365Z,1754689195.365 [DAT](INFO): DAT read: 21:39:54.1905 LVL= 32288, 32753, 32754, 32755, AGC= 37, IDX= 448,-0.49,-0.254,-1.969,-1.249,-0.084, PHS=-0.069,-1.841,-1.209, RAW= 110.6,  35.3, CAL= 107.7,  42.7, ROT=  42.3, -42.7

2025-08-08T21:39:55.366Z,1754689195.366 [DAT](INFO): got valid direction response:
 21:39:54.1905 LVL= 32288, 32753, 32754, 32755, AGC= 37, IDX= 448,-0.49,-0.254,-1.969,-1.249,-0.084, PHS=-0.069,-1.841,-1.209, RAW= 110.6,  35.3, CAL= 107.7,  42.7, ROT=  42.3, -42.7

2025-08-08T21:39:55.366Z,1754689195.366 [DAT](INFO): DAT read: OK

2025-08-08T21:39:55.366Z,1754689195.366 [DAT](INFO): unknown deviceResponse_: OK

2025-08-08T21:39:55.367Z,1754689195.367 [DAT](INFO): #Rx 4: Read direction message, but no range.
2025-08-08T21:39:55.368Z,1754689195.368 [DAT](INFO): direction in FSK: [0.543566,0.494607,0.678160]
2025-08-08T21:40:12.937Z,1754689212.937 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-08T21:40:13.001Z,1754689213.001 [DAT](DEBUG): Acoustic response timeout
2025-08-08T21:40:13.002Z,1754689213.002 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-08T21:40:13.253Z,1754689213.253 [DAT](INFO): DAT read: user:1233>

2025-08-08T21:40:13.253Z,1754689213.253 [DAT](INFO): DAT read: Tx time:21:40:13.0030

2025-08-08T21:40:13.254Z,1754689213.254 [DAT](INFO): Ping request sent.
2025-08-08T21:40:13.254Z,1754689213.254 [DAT](INFO): transmitted an acoustic signal
2025-08-08T21:40:13.254Z,1754689213.254 [DAT](INFO): publishing transmit ping time
2025-08-08T21:40:13.255Z,1754689213.255 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000740
2025-08-08T21:40:13.505Z,1754689213.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250908
2025-08-08T21:40:13.759Z,1754689213.759 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505076
2025-08-08T21:40:14.009Z,1754689214.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754997
2025-08-08T21:40:14.261Z,1754689214.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007282
2025-08-08T21:40:14.518Z,1754689214.518 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.263916
2025-08-08T21:40:14.771Z,1754689214.771 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.516937
2025-08-08T21:40:15.021Z,1754689215.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.767271
2025-08-08T21:40:15.273Z,1754689215.273 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018964
2025-08-08T21:40:15.526Z,1754689215.526 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.272164
2025-08-08T21:40:15.779Z,1754689215.779 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.524848
2025-08-08T21:40:16.030Z,1754689216.030 [DAT](INFO): DAT read: Rx Time:21:40:15.4099

2025-08-08T21:40:16.031Z,1754689216.031 [DAT](INFO): Rx dataTimestamp_ set to:1754689216.030378
2025-08-08T21:40:16.032Z,1754689216.032 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.778197
2025-08-08T21:40:16.281Z,1754689216.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027505
2025-08-08T21:40:16.537Z,1754689216.537 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.281780
2025-08-08T21:40:16.801Z,1754689216.801 [DAT](INFO): DAT read: 21:40:15.4099 LVL= 17840, 24561, 18130, 32755, AGC= 50, IDX=  89,-0.02,-1.249,-3.092,-1.237,-1.559, PHS= 0.412,-1.488, 0.278, RAW= 146.4,   8.7, CAL= 145.9,   9.5, ROT=   4.1,  -9.5

2025-08-08T21:40:16.802Z,1754689216.802 [DAT](INFO): got valid direction response:
 21:40:15.4099 LVL= 17840, 24561, 18130, 32755, AGC= 50, IDX=  89,-0.02,-1.249,-3.092,-1.237,-1.559, PHS= 0.412,-1.488, 0.278, RAW= 146.4,   8.7, CAL= 145.9,   9.5, ROT=   4.1,  -9.5

2025-08-08T21:40:16.803Z,1754689216.803 [DAT](INFO): DAT read: Bearing 110.7,  -1.3 (Local)

2025-08-08T21:40:16.804Z,1754689216.804 [DAT](INFO): Local bearing/azimuth received:
 Bearing 110.7,  -1.3 (Local)

2025-08-08T21:40:16.805Z,1754689216.805 [DAT](INFO): DAT read: Range 11 to 50 : 2.1 m  (Round-trip  2.8 ms) speed  0.0 m/s

2025-08-08T21:40:16.806Z,1754689216.806 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-08T21:40:16.807Z,1754689216.807 [DAT](INFO): direction in FSK: [0.983761,0.070517,0.165048]
2025-08-08T21:40:16.807Z,1754689216.807 [DAT](INFO): publishing direction and range info
2025-08-08T21:41:11.933Z,1754689271.933 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope](IMPORTANT): Altitude envelope ACTIVE. Altitude:3.990000m. At depth:67.366524m.
2025-08-08T21:41:16.375Z,1754689276.375 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): Done sinking
2025-08-08T21:41:16.375Z,1754689276.375 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): Slide state transition from 2 to 1
2025-08-08T21:41:16.413Z,1754689276.413 [DockingStepper](INFO): Changing to mode: 1
2025-08-08T21:41:16.817Z,1754689276.817 [DAT](IMPORTANT): Requesting device enable set for address 50.
2025-08-08T21:41:17.069Z,1754689277.069 [DAT](INFO): DAT read: user:1234>

2025-08-08T21:41:17.069Z,1754689277.069 [DAT](INFO): DAT read: Tx time:21:41:16.8020

2025-08-08T21:41:17.070Z,1754689277.070 [DAT](INFO): Ping request sent.
2025-08-08T21:41:17.070Z,1754689277.070 [DAT](INFO): transmitted an acoustic signal
2025-08-08T21:41:17.070Z,1754689277.070 [DAT](INFO): publishing transmit ping time
2025-08-08T21:41:17.071Z,1754689277.071 [DAT](IMPORTANT): Requesting device enable set for address 50.
2025-08-08T21:41:17.321Z,1754689277.321 [DAT](IMPORTANT): Requesting device enable set for address 50.
2025-08-08T21:41:19.337Z,1754689279.337 [DAT](INFO): DAT read: Rx Time:21:41:18.6969

2025-08-08T21:41:19.337Z,1754689279.337 [DAT](INFO): Rx dataTimestamp_ set to:1754689279.336971
2025-08-08T21:41:20.111Z,1754689280.111 [DAT](INFO): DAT read: 21:41:18.6969 LVL= 32752, 32753, 26098, 32755, AGC= 58, IDX= 324, 0.17,-2.936, 2.204,-2.224, 2.779, PHS= 0.670,-0.531, 1.236, RAW= 168.3, -17.3, CAL= 170.4, -18.2, ROT= 339.6,  18.2

2025-08-08T21:41:20.113Z,1754689280.113 [DAT](INFO): got valid direction response:
 21:41:18.6969 LVL= 32752, 32753, 26098, 32755, AGC= 58, IDX= 324, 0.17,-2.936, 2.204,-2.224, 2.779, PHS= 0.670,-0.531, 1.236, RAW= 168.3, -17.3, CAL= 170.4, -18.2, ROT= 339.6,  18.2

2025-08-08T21:41:20.114Z,1754689280.114 [DAT](INFO): DAT read: OK

2025-08-08T21:41:20.114Z,1754689280.114 [DAT](INFO): unknown deviceResponse_: OK

2025-08-08T21:41:20.115Z,1754689280.115 [DAT](INFO): DAT read: user:1235>

2025-08-08T21:41:20.115Z,1754689280.115 [DAT](INFO): DAT read: Tx time:21:41:19.8020

2025-08-08T21:41:20.116Z,1754689280.116 [DAT](INFO): Ping request sent.
2025-08-08T21:41:20.116Z,1754689280.116 [DAT](INFO): transmitted an acoustic signal
2025-08-08T21:41:20.116Z,1754689280.116 [DAT](INFO): #Rx 2: Read direction message, but no range.
2025-08-08T21:41:20.117Z,1754689280.117 [DAT](INFO): direction in FSK: [0.890392,-0.331134,-0.312335]
2025-08-08T21:41:20.117Z,1754689280.117 [DAT](INFO): publishing transmit ping time
2025-08-08T21:41:20.120Z,1754689280.120 [DAT](INFO): publishing transmit ping time
2025-08-08T21:41:22.373Z,1754689282.373 [DAT](INFO): DAT read: Rx Time:21:41:21.6971

2025-08-08T21:41:22.373Z,1754689282.373 [DAT](INFO): Rx dataTimestamp_ set to:1754689282.372981
2025-08-08T21:41:22.882Z,1754689282.882 [DAT](INFO): DAT read: 21:41:21.6971 LVL= 30192, 32753, 26082, 32755, AGC= 55, IDX= 439,-0.49, 2.318, 1.302, 2.866, 1.778, PHS= 0.642,-0.431, 1.044, RAW= 165.3, -18.6, CAL= 167.8, -19.5, ROT= 342.2,  19.5

2025-08-08T21:41:22.883Z,1754689282.883 [DAT](INFO): got valid direction response:
 21:41:21.6971 LVL= 30192, 32753, 26082, 32755, AGC= 55, IDX= 439,-0.49, 2.318, 1.302, 2.866, 1.778, PHS= 0.642,-0.431, 1.044, RAW= 165.3, -18.6, CAL= 167.8, -19.5, ROT= 342.2,  19.5

2025-08-08T21:41:22.883Z,1754689282.883 [DAT](INFO): DAT read: OK

2025-08-08T21:41:22.884Z,1754689282.884 [DAT](INFO): unknown deviceResponse_: OK

2025-08-08T21:41:22.884Z,1754689282.884 [DAT](INFO): DAT read: user:1236>

2025-08-08T21:41:22.885Z,1754689282.885 [DAT](INFO): DAT read: Tx time:21:41:22.8020

2025-08-08T21:41:22.885Z,1754689282.885 [DAT](INFO): Ping request sent.
2025-08-08T21:41:22.885Z,1754689282.885 [DAT](INFO): transmitted an acoustic signal
2025-08-08T21:41:22.886Z,1754689282.886 [DAT](INFO): #Rx 3: Read direction message, but no range.
2025-08-08T21:41:22.887Z,1754689282.887 [DAT](INFO): direction in FSK: [0.897517,-0.288161,-0.333807]
2025-08-08T21:41:22.887Z,1754689282.887 [DAT](INFO): publishing transmit ping time
2025-08-08T21:41:22.891Z,1754689282.891 [DAT](INFO): publishing transmit ping time
2025-08-08T21:41:25.397Z,1754689285.397 [DAT](INFO): DAT read: Rx Time:21:41:24.6973

2025-08-08T21:41:25.397Z,1754689285.397 [DAT](INFO): Rx dataTimestamp_ set to:1754689285.396982
2025-08-08T21:41:25.905Z,1754689285.905 [DAT](INFO): DAT read: 21:41:24.6973 LVL= 30688, 32753, 28146, 32163, AGC= 58, IDX= 424, 0.45, 2.645, 1.774,-3.071, 2.185, PHS= 0.562,-0.366, 0.983, RAW= 167.8, -19.2, CAL= 170.3, -20.0, ROT= 339.7,  20.0

2025-08-08T21:41:25.906Z,1754689285.906 [DAT](INFO): got valid direction response:
 21:41:24.6973 LVL= 30688, 32753, 28146, 32163, AGC= 58, IDX= 424, 0.45, 2.645, 1.774,-3.071, 2.185, PHS= 0.562,-0.366, 0.983, RAW= 167.8, -19.2, CAL= 170.3, -20.0, ROT= 339.7,  20.0

2025-08-08T21:41:25.906Z,1754689285.906 [DAT](INFO): DAT read: OK

2025-08-08T21:41:25.906Z,1754689285.906 [DAT](INFO): unknown deviceResponse_: OK

2025-08-08T21:41:25.907Z,1754689285.907 [DAT](INFO): #Rx 4: Read direction message, but no range.
2025-08-08T21:41:25.908Z,1754689285.908 [DAT](INFO): direction in FSK: [0.881327,-0.326013,-0.342020]
2025-08-08T21:41:58.385Z,1754689318.385 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA,  0.00,  14.25,  15.77,  12.89
2025-08-08T21:42:12.971Z,1754689332.971 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact ***
2025-08-08T21:42:13.041Z,1754689333.041 [DAT](DEBUG): Acoustic response timeout
2025-08-08T21:42:13.041Z,1754689333.041 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode.
2025-08-08T21:42:13.293Z,1754689333.293 [DAT](INFO): DAT read: user:1237>

2025-08-08T21:42:13.293Z,1754689333.293 [DAT](INFO): DAT read: Tx time:21:42:13.0531

2025-08-08T21:42:13.294Z,1754689333.294 [DAT](INFO): Ping request sent.
2025-08-08T21:42:13.294Z,1754689333.294 [DAT](INFO): transmitted an acoustic signal
2025-08-08T21:42:13.294Z,1754689333.294 [DAT](INFO): publishing transmit ping time
2025-08-08T21:42:13.295Z,1754689333.295 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000753
2025-08-08T21:42:13.545Z,1754689333.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251152
2025-08-08T21:42:13.797Z,1754689333.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503060
2025-08-08T21:42:14.049Z,1754689334.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754863
2025-08-08T21:42:14.302Z,1754689334.302 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007701
2025-08-08T21:42:14.553Z,1754689334.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259074
2025-08-08T21:42:14.805Z,1754689334.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510906
2025-08-08T21:42:15.057Z,1754689335.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763324
2025-08-08T21:42:15.309Z,1754689335.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014988
2025-08-08T21:42:15.563Z,1754689335.563 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268993
2025-08-08T21:42:15.815Z,1754689335.815 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520861
2025-08-08T21:42:16.065Z,1754689336.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770981
2025-08-08T21:42:16.317Z,1754689336.317 [DAT](INFO): DAT read: Rx Time:21:42:15.4716

2025-08-08T21:42:16.317Z,1754689336.317 [DAT](INFO): Rx dataTimestamp_ set to:1754689336.317059
2025-08-08T21:42:16.318Z,1754689336.318 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024015
2025-08-08T21:42:16.570Z,1754689336.570 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276328
2025-08-08T21:42:16.826Z,1754689336.826 [DAT](INFO): DAT read: 21:42:15.4716 LVL= 32752, 32753, 18642, 26531, AGC= 58, IDX= 160,-0.27,-1.806,-2.645,-1.102,-2.246, PHS= 0.542,-0.354, 1.100, RAW= 172.4, -19.7, CAL= 174.4, -20.5, ROT= 335.6,  20.5

2025-08-08T21:42:16.827Z,1754689336.827 [DAT](INFO): got valid direction response:
 21:42:15.4716 LVL= 32752, 32753, 18642, 26531, AGC= 58, IDX= 160,-0.27,-1.806,-2.645,-1.102,-2.246, PHS= 0.542,-0.354, 1.100, RAW= 172.4, -19.7, CAL= 174.4, -20.5, ROT= 335.6,  20.5

2025-08-08T21:42:16.828Z,1754689336.828 [DAT](INFO): DAT read: Bearing  89.3, -22.8 (Local)

2025-08-08T21:42:16.829Z,1754689336.829 [DAT](INFO): Local bearing/azimuth received:
 Bearing  89.3, -22.8 (Local)

2025-08-08T21:42:16.830Z,1754689336.830 [DAT](INFO): DAT read: Range 11 to 50 : 10.8 m  (Round-trip  14.4 ms) speed  0.0 m/s

2025-08-08T21:42:16.831Z,1754689336.831 [DAT](INFO): #Rx 1: Read range and direction messages.
2025-08-08T21:42:16.832Z,1754689336.832 [DAT](INFO): direction in FSK: [0.853012,-0.386943,-0.350207]
2025-08-08T21:42:16.832Z,1754689336.832 [DAT](INFO): publishing direction and range info
2025-08-08T21:42:17.012Z,1754689337.012 [lineCaptureHoming:Lap:Docked:Docked.Docked](FAULT): Off dock, range to dock 10.800000 exceeded threshold.
2025-08-08T21:42:17.012Z,1754689337.012 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): State switched to DETACHED. Waiting for state timeout to act...
2025-08-08T21:42:46.734Z,1754689366.734 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): Done checking for power/comms, continuing with slide
2025-08-08T21:42:46.734Z,1754689366.734 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): Slide state transition from 1 to 2
2025-08-08T21:42:46.854Z,1754689366.854 [DAT](IMPORTANT): Requesting device enable clr for address 50.
2025-08-08T21:42:46.901Z,1754689366.901 [DockingStepper](INFO): Changing to mode: 4
2025-08-08T21:42:47.105Z,1754689367.105 [DAT](INFO): DAT read: user:1238>

2025-08-08T21:42:47.106Z,1754689367.106 [DAT](INFO): DAT read: Tx time:21:42:46.8521

2025-08-08T21:42:47.106Z,1754689367.106 [DAT](INFO): Ping request sent.
2025-08-08T21:42:47.106Z,1754689367.106 [DAT](INFO): transmitted an acoustic signal
2025-08-08T21:42:47.106Z,1754689367.106 [DAT](INFO): publishing transmit ping time
2025-08-08T21:42:47.107Z,1754689367.107 [DAT](IMPORTANT): Requesting device enable clr for address 50.
2025-08-08T21:42:47.243Z,1754689367.243 [lineCaptureHoming:Lap:Docked:Docked.Docked](IMPORTANT): VEHICLE DETACHED FROM DOCK.
2025-08-08T21:42:47.280Z,1754689367.280 [lineCaptureHoming:Lap:Docked:Docked.Docked] Stopped
2025-08-08T21:42:47.280Z,1754689367.280 [lineCaptureHoming:Lap:Docked:setCompletion] Running Loop=1
2025-08-08T21:42:47.281Z,1754689367.281 [lineCaptureHoming:Lap:Docked:setCompletion](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Docked:setCompletion
2025-08-08T21:42:47.281Z,1754689367.281 [lineCaptureHoming:Lap:Docked:setCompletion:A] Running Loop=1
2025-08-08T21:42:47.358Z,1754689367.358 [DAT](IMPORTANT): Requesting device enable clr for address 50.
2025-08-08T21:42:47.442Z,1754689367.442 [DockingStepper](INFO): Changing to mode: 2
2025-08-08T21:42:47.703Z,1754689367.703 [lineCaptureHoming:Lap:Docked:setCompletion] Stopped
2025-08-08T21:42:47.703Z,1754689367.703 [lineCaptureHoming:Lap:Docked:setCompletion](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Docked:setCompletion
2025-08-08T21:42:47.704Z,1754689367.704 [lineCaptureHoming:Lap:Docked:setCompletion:A] Stopped
2025-08-08T21:42:47.704Z,1754689367.704 [lineCaptureHoming:Lap:Docked:Detach] Running Loop=1
2025-08-08T21:42:47.705Z,1754689367.705 [lineCaptureHoming:Lap:Docked:Detach](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Docked:Detach
2025-08-08T21:42:47.705Z,1754689367.705 [lineCaptureHoming:Lap:Docked:Detach:A] Running Loop=1
2025-08-08T21:42:48.089Z,1754689368.089 [lineCaptureHoming:Lap:Docked:Detach] Stopped
2025-08-08T21:42:48.089Z,1754689368.089 [lineCaptureHoming:Lap:Docked:Detach](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Docked:Detach
2025-08-08T21:42:48.089Z,1754689368.089 [lineCaptureHoming:Lap:Docked:Detach:A] Stopped
2025-08-08T21:42:48.089Z,1754689368.089 [lineCaptureHoming:Lap:Docked:Wpt1] Running Loop=1
2025-08-08T21:42:48.089Z,1754689368.089 [lineCaptureHoming:Lap:Docked:Wpt1](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Docked:Wpt1
2025-08-08T21:42:48.089Z,1754689368.089 [lineCaptureHoming:Lap:Docked:Wpt1:B.Pitch] Running Loop=1
2025-08-08T21:42:48.089Z,1754689368.089 [lineCaptureHoming:Lap:Docked:Wpt1:B.Pitch](DEBUG): Initialize.
2025-08-08T21:42:48.090Z,1754689368.090 [lineCaptureHoming:Lap:Docked:Wpt1:C.SetSpeed] Running Loop=1
2025-08-08T21:42:48.090Z,1754689368.090 [lineCaptureHoming:Lap:Docked:Wpt1:C.SetSpeed](DEBUG): Initialize.
2025-08-08T21:42:48.090Z,1754689368.090 [lineCaptureHoming:Lap:Docked:Wpt1:A] Running Loop=1
2025-08-08T21:42:48.478Z,1754689368.478 [lineCaptureHoming:Lap:Docked:Wpt1] Stopped
2025-08-08T21:42:48.478Z,1754689368.478 [lineCaptureHoming:Lap:Docked:Wpt1](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Docked:Wpt1
2025-08-08T21:42:48.478Z,1754689368.478 [lineCaptureHoming:Lap:Docked:Wpt1:A] Stopped
2025-08-08T21:42:48.478Z,1754689368.478 [lineCaptureHoming:Lap:Docked:Wpt1:B.Pitch] Stopped
2025-08-08T21:42:48.478Z,1754689368.478 [lineCaptureHoming:Lap:Docked:Wpt1:C.SetSpeed] Stopped
2025-08-08T21:42:48.478Z,1754689368.478 [lineCaptureHoming:Lap:Docked:Wpt1:C.SetSpeed](DEBUG): Uninitialize.
2025-08-08T21:42:48.478Z,1754689368.478 [lineCaptureHoming:Lap:Docked:Drift] Running Loop=1
2025-08-08T21:42:48.478Z,1754689368.478 [lineCaptureHoming:Lap:Docked:Drift](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Docked:Drift
2025-08-08T21:42:48.478Z,1754689368.478 [lineCaptureHoming:Lap:Docked:Drift:B.Buoyancy] Running Loop=1
2025-08-08T21:42:48.479Z,1754689368.479 [lineCaptureHoming:Lap:Docked:Drift:B.Buoyancy](DEBUG): Initialize Buoyancy Component.
2025-08-08T21:42:48.479Z,1754689368.479 [lineCaptureHoming:Lap:Docked:Drift:C.Pitch] Running Loop=1
2025-08-08T21:42:48.479Z,1754689368.479 [lineCaptureHoming:Lap:Docked:Drift:C.Pitch](DEBUG): Initialize.
2025-08-08T21:42:48.479Z,1754689368.479 [lineCaptureHoming:Lap:Docked:Drift:D.Point] Running Loop=1
2025-08-08T21:42:48.479Z,1754689368.479 [lineCaptureHoming:Lap:Docked:Drift:D.Point](DEBUG): Initialize.
2025-08-08T21:42:48.479Z,1754689368.479 [lineCaptureHoming:Lap:Docked:Drift:E.SetSpeed] Running Loop=1
2025-08-08T21:42:48.479Z,1754689368.479 [lineCaptureHoming:Lap:Docked:Drift:E.SetSpeed](DEBUG): Initialize.
2025-08-08T21:42:48.479Z,1754689368.479 [lineCaptureHoming:Lap:Docked:Drift:A] Running Loop=1
2025-08-08T21:42:48.893Z,1754689368.893 [lineCaptureHoming:Lap:Docked:Drift] Stopped
2025-08-08T21:42:48.893Z,1754689368.893 [lineCaptureHoming:Lap:Docked:Drift](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Docked:Drift
2025-08-08T21:42:48.894Z,1754689368.894 [lineCaptureHoming:Lap:Docked:Drift:A] Stopped
2025-08-08T21:42:48.894Z,1754689368.894 [lineCaptureHoming:Lap:Docked:Drift:B.Buoyancy] Stopped
2025-08-08T21:42:48.894Z,1754689368.894 [lineCaptureHoming:Lap:Docked:Drift:B.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2025-08-08T21:42:48.894Z,1754689368.894 [lineCaptureHoming:Lap:Docked:Drift:C.Pitch] Stopped
2025-08-08T21:42:48.894Z,1754689368.894 [lineCaptureHoming:Lap:Docked:Drift:D.Point] Stopped
2025-08-08T21:42:48.894Z,1754689368.894 [lineCaptureHoming:Lap:Docked:Drift:E.SetSpeed] Stopped
2025-08-08T21:42:48.894Z,1754689368.894 [lineCaptureHoming:Lap:Docked:Drift:E.SetSpeed](DEBUG): Uninitialize.
2025-08-08T21:42:48.894Z,1754689368.894 [lineCaptureHoming:Lap:Docked](INFO): Completed lineCaptureHoming:Lap:Docked
2025-08-08T21:42:48.894Z,1754689368.894 [lineCaptureHoming:Lap:Docked] Stopped
2025-08-08T21:42:48.894Z,1754689368.894 [lineCaptureHoming:Lap:Docked](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Docked
2025-08-08T21:42:48.894Z,1754689368.894 [lineCaptureHoming:Lap](INFO): Completed lineCaptureHoming:Lap
2025-08-08T21:42:48.894Z,1754689368.894 [lineCaptureHoming:Lap] Stopped
2025-08-08T21:42:48.895Z,1754689368.895 [lineCaptureHoming:Lap](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap
2025-08-08T21:42:48.900Z,1754689368.900 [lineCaptureHoming](INFO): Completed lineCaptureHoming
2025-08-08T21:42:48.900Z,1754689368.900 [MissionManager](INFO): lineCaptureHoming is completed.
2025-08-08T21:42:48.901Z,1754689368.901 [MissionManager](INFO): Uninitializing Mission lineCaptureHoming
2025-08-08T21:42:48.901Z,1754689368.901 [lineCaptureHoming] Stopped
2025-08-08T21:42:48.901Z,1754689368.901 [lineCaptureHoming](DEBUG): Aggregate::uninitialize lineCaptureHoming
2025-08-08T21:42:48.901Z,1754689368.901 [lineCaptureHoming:Science] Stopped
2025-08-08T21:42:48.901Z,1754689368.901 [lineCaptureHoming:Science](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science
2025-08-08T21:42:48.901Z,1754689368.901 [lineCaptureHoming:Science:B] Stopped
2025-08-08T21:42:48.901Z,1754689368.901 [lineCaptureHoming:Science:C] Stopped
2025-08-08T21:42:48.901Z,1754689368.901 [lineCaptureHoming:Science:E] Stopped
2025-08-08T21:42:48.901Z,1754689368.901 [lineCaptureHoming:Science:OceanCurrent] Stopped
2025-08-08T21:42:48.901Z,1754689368.901 [lineCaptureHoming:Science:OceanCurrent](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:OceanCurrent
2025-08-08T21:42:48.901Z,1754689368.901 [lineCaptureHoming:Science:OceanCurrent:A.] Stopped
2025-08-08T21:42:48.901Z,1754689368.901 [lineCaptureHoming:StandardEnvelopes] Stopped
2025-08-08T21:42:48.902Z,1754689368.902 [lineCaptureHoming:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureHoming:StandardEnvelopes
2025-08-08T21:42:48.902Z,1754689368.902 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2025-08-08T21:42:48.902Z,1754689368.902 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2025-08-08T21:42:48.902Z,1754689368.902 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope] Stopped
2025-08-08T21:42:48.902Z,1754689368.902 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2025-08-08T21:42:48.902Z,1754689368.902 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2025-08-08T21:42:48.902Z,1754689368.902 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2025-08-08T21:42:48.902Z,1754689368.902 [lineCaptureHoming:TrackAC.] Stopped
2025-08-08T21:42:48.902Z,1754689368.902 [lineCaptureHoming:TrackAC.](DEBUG): Uninitializing TrackAcousticContact.
2025-08-08T21:42:49.086Z,1754689369.086 [CommandExec](IMPORTANT): got command run ./Missions/Engineering/OnDock.tl
2025-08-08T21:42:49.245Z,1754689369.245 [MissionManager](INFO): Loading Mission from file: ./Missions/Engineering/OnDock.tl
2025-08-08T21:42:49.245Z,1754689369.245 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Engineering/OnDock.tl
2025-08-08T21:42:49.251Z,1754689369.251 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Engineering/OnDock.tl
2025-08-08T21:42:49.272Z,1754689369.272 [WetLabsBB2FL](INFO): Powering down
2025-08-08T21:42:49.373Z,1754689369.373 [DAT](INFO): DAT read: Rx Time:21:42:48.7525

2025-08-08T21:42:49.374Z,1754689369.374 [DAT](INFO): Rx dataTimestamp_ set to:1754689369.373220
2025-08-08T21:42:50.133Z,1754689370.133 [DAT](INFO): DAT read: 21:42:48.7525 LVL= 23872, 29985, 21682, 25907, AGC= 56, IDX= 267, 0.32,-2.428,-3.011,-1.588,-2.921, PHS= 0.595,-0.045, 1.289, RAW= 181.3, -29.3, CAL= 181.5, -30.8, ROT= 328.5,  30.8

2025-08-08T21:42:50.134Z,1754689370.134 [DAT](INFO): got valid direction response:
 21:42:48.7525 LVL= 23872, 29985, 21682, 25907, AGC= 56, IDX= 267, 0.32,-2.428,-3.011,-1.588,-2.921, PHS= 0.595,-0.045, 1.289, RAW= 181.3, -29.3, CAL= 181.5, -30.8, ROT= 328.5,  30.8

2025-08-08T21:42:50.135Z,1754689370.135 [DAT](INFO): DAT read: OK

2025-08-08T21:42:50.135Z,1754689370.135 [DAT](INFO): unknown deviceResponse_: OK

2025-08-08T21:42:50.135Z,1754689370.135 [DAT](INFO): DAT read: user:1239>

2025-08-08T21:42:50.136Z,1754689370.136 [DAT](INFO): DAT read: Tx time:21:42:49.8521

2025-08-08T21:42:50.137Z,1754689370.137 [DAT](INFO): Ping request sent.
2025-08-08T21:42:50.137Z,1754689370.137 [DAT](INFO): transmitted an acoustic signal
2025-08-08T21:42:50.137Z,1754689370.137 [DAT](INFO): #Rx 2: Read direction message, but no range.
2025-08-08T21:42:50.138Z,1754689370.138 [DAT](INFO): direction in FSK: [0.732384,-0.448805,-0.512043]
2025-08-08T21:42:50.138Z,1754689370.138 [DAT](INFO): publishing transmit ping time
2025-08-08T21:42:50.141Z,1754689370.141 [DAT](INFO): publishing transmit ping time
2025-08-08T21:42:52.401Z,1754689372.401 [DAT](INFO): DAT read: Rx Time:21:42:51.7526

2025-08-08T21:42:52.401Z,1754689372.401 [DAT](INFO): Rx dataTimestamp_ set to:1754689372.401212
2025-08-08T21:42:53.162Z,1754689373.162 [DAT](INFO): DAT read: 21:42:51.7526 LVL= 31840, 32753, 20818, 30579, AGC= 56, IDX= 445,-0.26,-0.641,-1.262, 0.147,-1.125, PHS= 0.587,-0.092, 1.229, RAW= 179.1, -28.0, CAL= 179.6, -29.3, ROT= 330.4,  29.3

2025-08-08T21:42:53.163Z,1754689373.163 [DAT](INFO): got valid direction response:
 21:42:51.7526 LVL= 31840, 32753, 20818, 30579, AGC= 56, IDX= 445,-0.26,-0.641,-1.262, 0.147,-1.125, PHS= 0.587,-0.092, 1.229, RAW= 179.1, -28.0, CAL= 179.6, -29.3, ROT= 330.4,  29.3

2025-08-08T21:42:53.164Z,1754689373.164 [DAT](INFO): DAT read: OK

2025-08-08T21:42:53.164Z,1754689373.164 [DAT](INFO): unknown deviceResponse_: OK

2025-08-08T21:42:53.165Z,1754689373.165 [DAT](INFO): DAT read: user:1240>

2025-08-08T21:42:53.165Z,1754689373.165 [DAT](INFO): DAT read: Tx time:21:42:52.8521

2025-08-08T21:42:53.166Z,1754689373.166 [DAT](INFO): Ping request sent.
2025-08-08T21:42:53.166Z,1754689373.166 [DAT](INFO): transmitted an acoustic signal
2025-08-08T21:42:53.166Z,1754689373.166 [DAT](INFO): #Rx 3: Read direction message, but no range.
2025-08-08T21:42:53.167Z,1754689373.167 [DAT](INFO): direction in FSK: [0.758260,-0.430752,-0.489382]
2025-08-08T21:42:53.167Z,1754689373.167 [DAT](INFO): publishing transmit ping time
2025-08-08T21:42:53.175Z,1754689373.175 [DAT](INFO): publishing transmit ping time
2025-08-08T21:42:54.578Z,1754689374.578 [MissionManager](DEBUG): TethyslAPI: ./Missions/Engineering/OnDock.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Mission Id="OnDock">
    <DefineArg Name="DockedTime">
        <Units:hour />
        <Value>8</Value>
    </DefineArg>
    <DefineArg Name="DetachedTimeout">
        <Dock:Docked.detachTimeout />
    </DefineArg>
    <DefineArg Name="RangeTimeout">
        <Dock:Docked.rangeTimeout />
    </DefineArg>
    <DefineArg Name="TrackingUpdatePeriod">
        <Units:minute />
        <Value>2</Value>
    </DefineArg>
    <DefineArg Name="NumberOfPings">
        <Units:count />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="TransponderCode">
        <Dock:Dock.transponderCode />
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <BIT:CBIT.stopDepth />
    </DefineArg>
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:kilometer />
        <Value>2</Value>
    </DefineArg>
    <DefineArg Name="StayOnDock">
        <False />
    </DefineArg>
    <DefineArg Name="IfconfigInterval">
        <Units:hour />
        <Value>2</Value>
    </DefineArg>
    <DefineArg Name="RunScience">
        <False />
    </DefineArg>
    <DefineArg Name="MissionTimeout">
        <Arg Name="DockedTime" />
    </DefineArg>
    <Timeout Duration="MissionTimeout" />
    <Insert Filename="Insert/StandardEnvelopes.tl" />
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinAltitude" />
        <Arg Name="MinAltitude" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MaxDepth" />
        <Arg Name="MaxDepth" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="StandardEnvelopes:MinOffshore" />
        <Arg Name="MinOffshore" />
    </Assign>
    <Assign>
        <Sequence />
        <Arg Name="MissionTimeout" />
        <Arg Name="DockedTime" />
        <Add>
            <Units:minute />
            <Value>5</Value>
        </Add>
    </Assign>
    <Insert Filename="Insert/BackseatDriver.tl" />
    <Insert Filename="Insert/PowerOnly.tl" />
    <Aggregate Id="dataRead">
        <While>
            <True />
        </While>
        <ReadDatum>
            <Universal:platform_communications />
        </ReadDatum>
        <Guidance:Wait>
            <Sequence />
            <Setting>
                <Guidance:Wait.duration />
                <Units:minute />
                <Value>5</Value>
            </Setting>
        </Guidance:Wait>
    </Aggregate>
    <Aggregate Id="science">
        <Parallel />
        <Break>
            <Not>
                <Arg Name="RunScience" />
            </Not>
        </Break>
        <Insert Filename="Insert/Science.tl" />
    </Aggregate>
    <Estimation:TrackAcousticContact>
        <Parallel />
        <Setting>
            <Estimation:TrackAcousticContact.contactLabelSetting />
            <Arg Name="TransponderCode" />
        </Setting>
        <Setting>
            <Estimation:TrackAcousticContact.numberOfSamplesSetting />
            <Arg Name="NumberOfPings" />
        </Setting>
        <Setting>
            <Estimation:TrackAcousticContact.updatePeriodSetting />
            <Arg Name="TrackingUpdatePeriod" />
        </Setting>
    </Estimation:TrackAcousticContact>
    <Syslog Severity="Important">Restarting logs</Syslog>
    <Guidance:Execute>
        <Sequence />
        <Setting>
            <Guidance:Execute.command />
            <String>restart logs</String>
        </Setting>
    </Guidance:Execute>
    <Aggregate Id="PeriodicCheck">
        <Parallel />
        <Aggregate Id="CheckIP">
            <Sequence />
            <Guidance:Execute>
                <Sequence />
                <Setting>
                    <Guidance:Execute.command />
                    <String>! ifconfig</String>
                </Setting>
            </Guidance:Execute>
            <Guidance:Wait>
                <Sequence />
                <Setting>
                    <Guidance:Wait.duration />
                    <Arg Name="IfconfigInterval" />
                </Setting>
            </Guidance:Wait>
        </Aggregate>
    </Aggregate>
    <Dock:Docked>
        <Sequence />
        <Timeout Duration="DockedTime" />
        <Setting>
            <Dock:Docked.detachTimeout />
            <Arg Name="DetachedTimeout" />
        </Setting>
        <Setting>
            <Dock:Docked.rangeTimeout />
            <Arg Name="RangeTimeout" />
        </Setting>
    </Dock:Docked>
    <Aggregate Id="Detach">
        <Sequence />
        <Break>
            <Arg Name="StayOnDock" />
            <Eq>
                <True />
            </Eq>
        </Break>
        <Syslog Severity="Important">
            Mission ending, breaking off. Range: 
            <Estimation:TrackAcousticContact.range_to_contact />
            <Units:meter />
            .
        </Syslog>
        <Dock:Undock>
            <Sequence />
        </Dock:Undock>
    </Aggregate>
</Mission>

2025-08-08T21:42:54.583Z,1754689374.583 [MissionManager](INFO): DefineArg OnDock.DockedTime = 8.000000 h
2025-08-08T21:42:54.586Z,1754689374.586 [MissionManager](INFO): DefineArg OnDock.DetachedTimeout = 30.000000 s
2025-08-08T21:42:54.602Z,1754689374.602 [MissionManager](INFO): DefineArg OnDock.RangeTimeout = 600.000000 s
2025-08-08T21:42:54.605Z,1754689374.605 [MissionManager](INFO): DefineArg OnDock.TrackingUpdatePeriod = 2.000000 min
2025-08-08T21:42:54.607Z,1754689374.607 [MissionManager](INFO): DefineArg OnDock.NumberOfPings = 1.000000 count
2025-08-08T21:42:54.609Z,1754689374.609 [MissionManager](INFO): DefineArg OnDock.TransponderCode = 50 count
2025-08-08T21:42:54.612Z,1754689374.612 [MissionManager](INFO): DefineArg OnDock.MaxDepth = 275.000000 m
2025-08-08T21:42:54.614Z,1754689374.614 [MissionManager](INFO): DefineArg OnDock.MinAltitude = 5.000000 m
2025-08-08T21:42:54.616Z,1754689374.616 [MissionManager](INFO): DefineArg OnDock.MinOffshore = 2.000000 km
2025-08-08T21:42:54.618Z,1754689374.618 [MissionManager](INFO): DefineArg OnDock.StayOnDock = 0 bool
2025-08-08T21:42:54.620Z,1754689374.620 [MissionManager](INFO): DefineArg OnDock.IfconfigInterval = 2.000000 h
2025-08-08T21:42:54.622Z,1754689374.622 [MissionManager](INFO): DefineArg OnDock.RunScience = 0 bool
2025-08-08T21:42:54.624Z,1754689374.624 [MissionManager](INFO): DefineArg OnDock.MissionTimeout = 8.000000 h
2025-08-08T21:42:54.625Z,1754689374.625 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl
2025-08-08T21:42:54.625Z,1754689374.625 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl
2025-08-08T21:42:54.626Z,1754689374.626 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl
2025-08-08T21:42:54.819Z,1754689374.819 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/StandardEnvelopes.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="StandardEnvelopes">
    <DefineArg Name="MinAltitude">
        <Units:meter />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="MaxDepthIgnore">
        <Units:meter />
        <Value>1.5</Value>
    </DefineArg>
    <DefineArg Name="MaxDepth">
        <Units:meter />
        <Value>200</Value>
    </DefineArg>
    <DefineArg Name="MinOffshore">
        <Units:meter />
        <Value>2000</Value>
    </DefineArg>
    <Parallel />
    <Guidance:AltitudeEnvelope>
        <Parallel />
        <Setting>
            <Guidance:AltitudeEnvelope.minAltitude />
            <Arg Name="MinAltitude" />
        </Setting>
        <Setting>
            <Guidance:AltitudeEnvelope.maxDepthIgnore />
            <Arg Name="MaxDepthIgnore" />
        </Setting>
    </Guidance:AltitudeEnvelope>
    <Guidance:DepthEnvelope>
        <Parallel />
        <Setting>
            <Guidance:DepthEnvelope.maxDepth />
            <Arg Name="MaxDepth" />
        </Setting>
    </Guidance:DepthEnvelope>
    <Guidance:OffshoreEnvelope>
        <Parallel />
        <Setting>
            <Guidance:OffshoreEnvelope.minOffshore />
            <Arg Name="MinOffshore" />
        </Setting>
    </Guidance:OffshoreEnvelope>
</Aggregate>

2025-08-08T21:42:54.837Z,1754689374.837 [MissionManager](INFO): DefineArg OnDock:StandardEnvelopes.MinAltitude = 5.000000 m
2025-08-08T21:42:54.839Z,1754689374.839 [MissionManager](INFO): DefineArg OnDock:StandardEnvelopes.MaxDepthIgnore = 1.500000 m
2025-08-08T21:42:54.841Z,1754689374.841 [MissionManager](INFO): DefineArg OnDock:StandardEnvelopes.MaxDepth = 200.000000 m
2025-08-08T21:42:54.843Z,1754689374.843 [MissionManager](INFO): DefineArg OnDock:StandardEnvelopes.MinOffshore = 2000.000000 m
2025-08-08T21:42:54.849Z,1754689374.849 [OnDock:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2025-08-08T21:42:54.858Z,1754689374.858 [OnDock:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2025-08-08T21:42:54.873Z,1754689374.873 [OnDock:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2025-08-08T21:42:54.900Z,1754689374.900 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl
2025-08-08T21:42:54.900Z,1754689374.900 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl
2025-08-08T21:42:54.901Z,1754689374.901 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl
2025-08-08T21:42:54.933Z,1754689374.933 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/BackseatDriver.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="BackseatDriver">
    <DefineArg Name="EnableBackseat">
        <False />
    </DefineArg>
    <Parallel />
    <Guidance:BackseatDriver>
        <Sequence />
        <Setting>
            <Guidance:BackseatDriver.powerBackseat />
            <Arg Name="EnableBackseat" />
        </Setting>
    </Guidance:BackseatDriver>
</Aggregate>

2025-08-08T21:42:54.936Z,1754689374.936 [MissionManager](INFO): DefineArg OnDock:BackseatDriver.EnableBackseat = 0 bool
2025-08-08T21:42:54.938Z,1754689374.938 [OnDock:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver.
2025-08-08T21:42:54.941Z,1754689374.941 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl
2025-08-08T21:42:54.941Z,1754689374.941 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl
2025-08-08T21:42:54.942Z,1754689374.942 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl
2025-08-08T21:42:55.170Z,1754689375.170 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/PowerOnly.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="PowerOnly">
    <DefineArg Name="SampleAll">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad1">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad2">
        <False />
    </DefineArg>
    <DefineArg Name="SampleLoad3">
        <False />
    </DefineArg>
    <DefineArg Name="EnabledPowerOnly">
        <Sensor:PowerOnly.loadAtStartup />
    </DefineArg>
    <Parallel />
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleAll" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.samplePowerOnly />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad1" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad1 />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad2" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad2 />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="SampleLoad3" />
            <And>
                <Arg Name="EnabledPowerOnly" />
            </And>
        </While>
        <Sensor:PowerOnly.sampleLoad3 />
    </ReadData>
    <Guidance:Wait>
        <Sequence />
        <Setting>
            <Guidance:Wait.duration />
            <Units:hour />
            <Value>99999</Value>
        </Setting>
    </Guidance:Wait>
</Aggregate>

2025-08-08T21:42:55.189Z,1754689375.189 [MissionManager](INFO): DefineArg OnDock:PowerOnly.SampleAll = 0 bool
2025-08-08T21:42:55.191Z,1754689375.191 [MissionManager](INFO): DefineArg OnDock:PowerOnly.SampleLoad1 = 0 bool
2025-08-08T21:42:55.193Z,1754689375.193 [MissionManager](INFO): DefineArg OnDock:PowerOnly.SampleLoad2 = 0 bool
2025-08-08T21:42:55.195Z,1754689375.195 [MissionManager](INFO): DefineArg OnDock:PowerOnly.SampleLoad3 = 0 bool
2025-08-08T21:42:55.198Z,1754689375.198 [MissionManager](INFO): DefineArg OnDock:PowerOnly.EnabledPowerOnly = 0 bool
2025-08-08T21:42:55.209Z,1754689375.209 [OnDock:PowerOnly:E.Wait](DEBUG): Construct Wait.
2025-08-08T21:42:55.213Z,1754689375.213 [OnDock:dataRead:B.Wait](DEBUG): Construct Wait.
2025-08-08T21:42:55.215Z,1754689375.215 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/Science.tl
2025-08-08T21:42:55.216Z,1754689375.216 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/Science.tl
2025-08-08T21:42:55.245Z,1754689375.245 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/Science.tl
2025-08-08T21:42:55.425Z,1754689375.425 [DAT](INFO): DAT read: Rx Time:21:42:54.7527

2025-08-08T21:42:55.425Z,1754689375.425 [DAT](INFO): Rx dataTimestamp_ set to:1754689375.425137
2025-08-08T21:42:55.933Z,1754689375.933 [DAT](INFO): DAT read: 21:42:54.7527 LVL= 24784, 26977, 17970, 27123, AGC= 58, IDX= 446,-0.31,-0.834,-1.459,-0.030,-1.296, PHS= 0.564,-0.118, 1.221, RAW= 179.4, -26.9, CAL= 180.0, -28.1, ROT= 330.0,  28.1

2025-08-08T21:42:55.934Z,1754689375.934 [DAT](INFO): got valid direction response:
 21:42:54.7527 LVL= 24784, 26977, 17970, 27123, AGC= 58, IDX= 446,-0.31,-0.834,-1.459,-0.030,-1.296, PHS= 0.564,-0.118, 1.221, RAW= 179.4, -26.9, CAL= 180.0, -28.1, ROT= 330.0,  28.1

2025-08-08T21:42:55.934Z,1754689375.934 [DAT](INFO): DAT read: OK

2025-08-08T21:42:55.934Z,1754689375.934 [DAT](INFO): unknown deviceResponse_: OK

2025-08-08T21:42:55.935Z,1754689375.935 [DAT](INFO): #Rx 4: Read direction message, but no range.
2025-08-08T21:42:55.937Z,1754689375.937 [DAT](INFO): direction in FSK: [0.763944,-0.441064,-0.471012]
2025-08-08T21:42:59.281Z,1754689379.281 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/Science.tl translated into:
<?xml version="1.0" encoding="UTF-8" ?>
<!--generated by tl2xml-->
<Aggregate Id="Science">
    <DefineArg Name="PeakDetectChlActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectChlActive">
        <False />
    </DefineArg>
    <DefineArg Name="TimeWindowPeakReport">
        <Units:minute />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="HighestChlPeakReportActive">
        <False />
    </DefineArg>
    <DefineArg Name="HighestSaltPeakReportActive">
        <False />
    </DefineArg>
    <DefineArg Name="HighestOilPeakReportActive">
        <False />
    </DefineArg>
    <DefineArg Name="PatchTracking">
        <False />
    </DefineArg>
    <DefineArg Name="FilterWidthHorizontal">
        <Units:count />
        <Value>3</Value>
    </DefineArg>
    <DefineArg Name="NumProfilesSlidingwindow">
        <Units:count />
        <Value>100</Value>
    </DefineArg>
    <DefineArg Name="OffPeakFractionHorizontal">
        <Units:percent />
        <Value>80</Value>
    </DefineArg>
    <DefineArg Name="PeakDetectNO3Active">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectOilActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectFDOMActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectSalinityActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreLMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectPlanktivoreLMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreHMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectPlanktivoreHMavgROIActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreDiatomsActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectPlanktivoreDiatomsActive">
        <False />
    </DefineArg>
    <DefineArg Name="PeakDetectPlanktivoreDinoflagellatesActive">
        <False />
    </DefineArg>
    <DefineArg Name="EdgeDetectPlanktivoreDinoflagellatesActive">
        <False />
    </DefineArg>
    <DefineArg Name="UpwardDerivativeOfTemperatureActive">
        <False />
    </DefineArg>
    <DefineArg Name="EnabledAanderaaO2">
        <Science:Aanderaa_O2.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledNeilBrown">
        <Science:CTD_NeilBrown.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledRBRTridente">
        <Science:RBRTridente.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledSeabird">
        <Science:CTD_Seabird.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledWetLabsBB2FL">
        <Science:WetLabsBB2FL.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledWetLabsSeaOWL_UV_A">
        <Science:WetLabsSeaOWL_UV_A.loadAtStartup />
    </DefineArg>
    <DefineArg Name="EnabledWetLabsUBAT">
        <Science:WetLabsUBAT.loadAtStartup />
    </DefineArg>
    <DefineArg Name="LowPassWindowLength">
        <Units:count />
        <Value>20</Value>
    </DefineArg>
    <DefineArg Name="MedianFilterLen">
        <Units:count />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="ShallowBound">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="DeepBound">
        <Units:meter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="DepChangeThreshForAttitudeFlip">
        <Units:meter />
        <Value>2.0</Value>
    </DefineArg>
    <DefineArg Name="OffPeakFractionVerticalAscent">
        <Units:percent />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="OffPeakFractionVerticalDescent">
        <Units:percent />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="ChlPeakThresh">
        <Units:microgram_per_liter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="NumberOfLayers">
        <Units:count />
        <Value>1</Value>
    </DefineArg>
    <DefineArg Name="ChlThreshTriggerActive">
        <False />
    </DefineArg>
    <DefineArg Name="ChlLowerThresh">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="ChlUpperThresh">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineArg>
    <DefineArg Name="NumProfilesThresh">
        <Units:count />
        <Value>5</Value>
    </DefineArg>
    <DefineArg Name="PlanktivoreLMavgROIPeakThresh">
        <Units:count_per_second />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="PlanktivoreHMavgROIPeakThresh">
        <Units:count_per_second />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="PlanktivoreDiatomsPeakThresh">
        <Units:count_per_milliliter />
        <Value>0</Value>
    </DefineArg>
    <DefineArg Name="PlanktivoreDinoflagellatesPeakThresh">
        <Units:count_per_milliliter />
        <Value>0</Value>
    </DefineArg>
    <DefineOutput Name="GoDown">
        <True />
    </DefineOutput>
    <DefineOutput Name="PeakChl">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakChlLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChl">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgeChlLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3">
        <Units:micromole_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3Depth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3Latitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakNO3Longitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOil">
        <Units:kilogram_per_cubic_meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOilDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOilLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakOilLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOM">
        <Units:part_per_billion />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakFDOMLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSalt">
        <Units:practical_salinity_unit />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakSaltLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreLMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreLMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreHMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreHMavgROI">
        <Units:count_per_second />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreHMavgROIDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreHMavgROITemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreHMavgROILatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreHMavgROILongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatoms">
        <Units:count_per_milliliter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDiatomsLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDiatoms">
        <Units:count_per_milliliter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDiatomsDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDiatomsTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDiatomsLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDiatomsLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellates">
        <Units:count_per_milliliter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PeakPlanktivoreDinoflagellatesLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDinoflagellates">
        <Units:count_per_milliliter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDinoflagellatesDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDinoflagellatesTemperature">
        <Units:celsius />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDinoflagellatesLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="EdgePlanktivoreDinoflagellatesLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChl">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchChlDistance">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSalt">
        <Units:practical_salinity_unit />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchSaltDistance">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOil">
        <Units:practical_salinity_unit />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilDepth">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilLatitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilLongitude">
        <Units:degree />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="PatchOilDistance">
        <Units:meter />
        <Value>NaN</Value>
    </DefineOutput>
    <DefineOutput Name="TriggeredOnChl">
        <False />
    </DefineOutput>
    <DefineOutput Name="ChlTriggering">
        <Units:microgram_per_liter />
        <Value>NaN</Value>
    </DefineOutput>
    <Parallel />
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledAanderaaO2" />
        </While>
        <Universal:mass_concentration_of_oxygen_in_sea_water />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledNeilBrown" />
            <Or>
                <Arg Name="EnabledSeabird" />
            </Or>
        </While>
        <Universal:sea_water_temperature />
        <Universal:sea_water_salinity />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledSeabird" />
        </While>
        <Science:CTD_Seabird.sea_water_temperature />
        <Science:CTD_Seabird.sea_water_salinity />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledNeilBrown" />
            <Or>
                <Arg Name="EnabledSeabird" />
            </Or>
            <And>
                <Arg Name="UpwardDerivativeOfTemperatureActive" />
            </And>
        </While>
        <Universal:upward_derivative_of_sea_water_temperature />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledWetLabsBB2FL" />
            <Or>
                <Arg Name="EnabledRBRTridente" />
            </Or>
            <Or>
                <Arg Name="PeakDetectChlActive" />
            </Or>
        </While>
        <Universal:mass_concentration_of_chlorophyll_in_sea_water />
    </ReadData>
    <ReadData Strategy="MinError">
        <While>
            <Arg Name="EnabledWetLabsUBAT" />
        </While>
        <Science:WetLabsUBAT.average_bioluminescence />
    </ReadData>
    <ReadData Id="Read_Oil" Strategy="MinError">
        <While>
            <Arg Name="EnabledWetLabsSeaOWL_UV_A" />
            <Or>
                <Arg Name="PeakDetectOilActive" />
            </Or>
        </While>
        <Universal:mass_concentration_of_petroleum_hydrocarbons_in_sea_water />
    </ReadData>
    <Aggregate Id="OceanCurrent">
        <Sequence />
        <Estimation:CurrentEstimator>
            <Parallel />
        </Estimation:CurrentEstimator>
    </Aggregate>
    <Aggregate Id="PeakDetectChl">
        <While>
            <Arg Name="PeakDetectChlActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:mass_concentration_of_chlorophyll_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakChl">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakChlDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakChlTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakChlLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakChlLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakChl" />
            <Arg Name="PeakChlDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="EdgeDetectChl">
        <While>
            <Arg Name="EdgeDetectChlActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <Universal:mass_concentration_of_chlorophyll_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionAscent />
                <Arg Name="OffPeakFractionVerticalAscent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionDescent />
                <Arg Name="OffPeakFractionVerticalDescent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="ChlPeakThresh" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.numLayers />
                <Arg Name="NumberOfLayers" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakChl">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakChlDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakChlTemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakChlLatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakChlLongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgeChl">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgeChlDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgeChlTemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgeChlLatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgeChlLongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Info">
            GoDown, ChlPeakThresh, PeakChl, PeakChlDepth, EdgeChl, EdgeChlDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="ChlPeakThresh" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="PeakChl" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="PeakChlDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgeChl" />
            <Units:microgram_per_liter />
            , 
            <Arg Name="EdgeChlDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakChl" />
            <Arg Name="PeakChlDepth" />
            <Arg Name="EdgeChl" />
            <Arg Name="EdgeChlDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="HighestChlPeakReport">
        <While>
            <Arg Name="HighestChlPeakReportActive" />
        </While>
        <Trigger:PeakDetectHorizontal>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectHorizontal.detectFrom />
                <Arg Name="PeakChl" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.depthFrom />
                <Arg Name="PeakChlDepth" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.latitudeFrom />
                <Arg Name="PeakChlLatitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.longitudeFrom />
                <Arg Name="PeakChlLongitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.patchTracking />
                <Arg Name="PatchTracking" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.filterWidth />
                <Arg Name="FilterWidthHorizontal" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.numProfilesSlidingwindow />
                <Arg Name="NumProfilesSlidingwindow" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.offPeakFraction />
                <Arg Name="OffPeakFractionHorizontal" />
            </Setting>
            <OutputArg Name="PatchChl">
                <Trigger:PeakDetectHorizontal.peakDetect />
            </OutputArg>
            <OutputArg Name="PatchChlDepth">
                <Trigger:PeakDetectHorizontal.peakDepth />
            </OutputArg>
            <OutputArg Name="PatchChlLatitude">
                <Trigger:PeakDetectHorizontal.peakLatitude />
            </OutputArg>
            <OutputArg Name="PatchChlLongitude">
                <Trigger:PeakDetectHorizontal.peakLongitude />
            </OutputArg>
            <OutputArg Name="PatchChlDistance">
                <Trigger:PeakDetectHorizontal.peakDistance />
            </OutputArg>
        </Trigger:PeakDetectHorizontal>
    </Aggregate>
    <Aggregate Id="PeakDetectNO3">
        <While>
            <Arg Name="PeakDetectNO3Active" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:mole_concentration_of_nitrate_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <OutputArg Name="PeakNO3">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakNO3Depth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakNO3Latitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakNO3Longitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakNO3" />
            <Arg Name="PeakNO3Depth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectOil">
        <While>
            <Arg Name="PeakDetectOilActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:mass_concentration_of_petroleum_hydrocarbons_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <OutputArg Name="PeakOil">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakOilDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakOilLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakOilLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakOil" />
            <Arg Name="PeakOilDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="HighestOilPeakReport">
        <While>
            <Arg Name="HighestOilPeakReportActive" />
        </While>
        <Trigger:PeakDetectHorizontal>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectHorizontal.detectFrom />
                <Arg Name="PeakOil" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.depthFrom />
                <Arg Name="PeakOilDepth" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.latitudeFrom />
                <Arg Name="PeakOilLatitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.longitudeFrom />
                <Arg Name="PeakOilLongitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.patchTracking />
                <Arg Name="PatchTracking" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.filterWidth />
                <Arg Name="FilterWidthHorizontal" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.numProfilesSlidingwindow />
                <Arg Name="NumProfilesSlidingwindow" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.offPeakFraction />
                <Arg Name="OffPeakFractionHorizontal" />
            </Setting>
            <OutputArg Name="PatchOil">
                <Trigger:PeakDetectHorizontal.peakDetect />
            </OutputArg>
            <OutputArg Name="PatchOilDepth">
                <Trigger:PeakDetectHorizontal.peakDepth />
            </OutputArg>
            <OutputArg Name="PatchOilLatitude">
                <Trigger:PeakDetectHorizontal.peakLatitude />
            </OutputArg>
            <OutputArg Name="PatchOilLongitude">
                <Trigger:PeakDetectHorizontal.peakLongitude />
            </OutputArg>
            <OutputArg Name="PatchOilDistance">
                <Trigger:PeakDetectHorizontal.peakDistance />
            </OutputArg>
        </Trigger:PeakDetectHorizontal>
    </Aggregate>
    <Aggregate Id="PeakDetectFDOM">
        <While>
            <Arg Name="PeakDetectFDOMActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:concentration_of_colored_dissolved_organic_matter_in_sea_water />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <OutputArg Name="PeakFDOM">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakFDOMDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakFDOMTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakFDOMLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakFDOMLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakFDOM" />
            <Arg Name="PeakFDOMDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectSalinity">
        <While>
            <Arg Name="PeakDetectSalinityActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <Universal:sea_water_salinity />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakSalt">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakSaltDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakSaltTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakSaltLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakSaltLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakSalt" />
            <Arg Name="PeakSaltDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="HighestSaltPeakReport">
        <While>
            <Arg Name="HighestSaltPeakReportActive" />
        </While>
        <Trigger:PeakDetectHorizontal>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectHorizontal.detectFrom />
                <Arg Name="PeakSalt" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.depthFrom />
                <Arg Name="PeakSaltDepth" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.latitudeFrom />
                <Arg Name="PeakSaltLatitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.longitudeFrom />
                <Arg Name="PeakSaltLongitude" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.patchTracking />
                <Arg Name="PatchTracking" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.filterWidth />
                <Arg Name="FilterWidthHorizontal" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.numProfilesSlidingwindow />
                <Arg Name="NumProfilesSlidingwindow" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectHorizontal.offPeakFraction />
                <Arg Name="OffPeakFractionHorizontal" />
            </Setting>
            <OutputArg Name="PatchSalt">
                <Trigger:PeakDetectHorizontal.peakDetect />
            </OutputArg>
            <OutputArg Name="PatchSaltDepth">
                <Trigger:PeakDetectHorizontal.peakDepth />
            </OutputArg>
            <OutputArg Name="PatchSaltLatitude">
                <Trigger:PeakDetectHorizontal.peakLatitude />
            </OutputArg>
            <OutputArg Name="PatchSaltLongitude">
                <Trigger:PeakDetectHorizontal.peakLongitude />
            </OutputArg>
            <OutputArg Name="PatchSaltDistance">
                <Trigger:PeakDetectHorizontal.peakDistance />
            </OutputArg>
        </Trigger:PeakDetectHorizontal>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreLMavgROI">
        <While>
            <Arg Name="PeakDetectPlanktivoreLMavgROIActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_LM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreLMavgROI">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROIDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROITemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreLMavgROI" />
            <Arg Name="PeakPlanktivoreLMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="EdgeDetectPlanktivoreLMavgROI">
        <While>
            <Arg Name="EdgeDetectPlanktivoreLMavgROIActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <String>_.planktivore_LM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionAscent />
                <Arg Name="OffPeakFractionVerticalAscent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionDescent />
                <Arg Name="OffPeakFractionVerticalDescent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="PlanktivoreLMavgROIPeakThresh" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.numLayers />
                <Arg Name="NumberOfLayers" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROI">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROIDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROITemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreLMavgROILongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROI">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROIDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROITemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROILatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreLMavgROILongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Info">
            GoDown, PlanktivoreLMavgROIPeakThresh, PeakPlanktivoreLMavgROI, PeakPlanktivoreLMavgROIDepth, EdgePlanktivoreLMavgROI, EdgePlanktivoreLMavgROIDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="PlanktivoreLMavgROIPeakThresh" />
            <Units:count_per_second />
            , 
            <Arg Name="PeakPlanktivoreLMavgROI" />
            <Units:count_per_second />
            , 
            <Arg Name="PeakPlanktivoreLMavgROIDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgePlanktivoreLMavgROI" />
            <Units:count_per_second />
            , 
            <Arg Name="EdgePlanktivoreLMavgROIDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreLMavgROI" />
            <Arg Name="PeakPlanktivoreLMavgROIDepth" />
            <Arg Name="EdgePlanktivoreLMavgROI" />
            <Arg Name="EdgePlanktivoreLMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreHMavgROI">
        <While>
            <Arg Name="PeakDetectPlanktivoreHMavgROIActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_HM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreHMavgROI">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROIDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROITemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROILatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROILongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreHMavgROI" />
            <Arg Name="PeakPlanktivoreHMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="EdgeDetectPlanktivoreHMavgROI">
        <While>
            <Arg Name="EdgeDetectPlanktivoreHMavgROIActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <String>_.planktivore_HM_AvgRois</String>
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionAscent />
                <Arg Name="OffPeakFractionVerticalAscent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionDescent />
                <Arg Name="OffPeakFractionVerticalDescent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="PlanktivoreHMavgROIPeakThresh" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.numLayers />
                <Arg Name="NumberOfLayers" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROI">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROIDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROITemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROILatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreHMavgROILongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreHMavgROI">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreHMavgROIDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreHMavgROITemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreHMavgROILatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreHMavgROILongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Info">
            GoDown, PlanktivoreHMavgROIPeakThresh, PeakPlanktivoreHMavgROI, PeakPlanktivoreHMavgROIDepth, EdgePlanktivoreHMavgROI, EdgePlanktivoreHMavgROIDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="PlanktivoreHMavgROIPeakThresh" />
            <Units:count_per_second />
            , 
            <Arg Name="PeakPlanktivoreHMavgROI" />
            <Units:count_per_second />
            , 
            <Arg Name="PeakPlanktivoreHMavgROIDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgePlanktivoreHMavgROI" />
            <Units:count_per_second />
            , 
            <Arg Name="EdgePlanktivoreHMavgROIDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreHMavgROI" />
            <Arg Name="PeakPlanktivoreHMavgROIDepth" />
            <Arg Name="EdgePlanktivoreHMavgROI" />
            <Arg Name="EdgePlanktivoreHMavgROIDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreDiatoms">
        <While>
            <Arg Name="PeakDetectPlanktivoreDiatomsActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_diatoms</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreDiatoms">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreDiatoms" />
            <Arg Name="PeakPlanktivoreDiatomsDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="EdgeDetectPlanktivoreDiatoms">
        <While>
            <Arg Name="EdgeDetectPlanktivoreDiatomsActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <String>_.planktivore_diatoms</String>
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionAscent />
                <Arg Name="OffPeakFractionVerticalAscent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionDescent />
                <Arg Name="OffPeakFractionVerticalDescent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="PlanktivoreDiatomsPeakThresh" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.numLayers />
                <Arg Name="NumberOfLayers" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatoms">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsTemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsLatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDiatomsLongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDiatoms">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDiatomsDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDiatomsTemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDiatomsLatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDiatomsLongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Info">
            GoDown, PlanktivoreDiatomsPeakThresh, PeakPlanktivoreDiatoms, PeakPlanktivoreDiatomsDepth, EdgePlanktivoreDiatoms, EdgePlanktivoreDiatomsDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="PlanktivoreDiatomsPeakThresh" />
            <Units:count_per_milliliter />
            , 
            <Arg Name="PeakPlanktivoreDiatoms" />
            <Units:count_per_milliliter />
            , 
            <Arg Name="PeakPlanktivoreDiatomsDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgePlanktivoreDiatoms" />
            <Units:count_per_milliliter />
            , 
            <Arg Name="EdgePlanktivoreDiatomsDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreDiatoms" />
            <Arg Name="PeakPlanktivoreDiatomsDepth" />
            <Arg Name="EdgePlanktivoreDiatoms" />
            <Arg Name="EdgePlanktivoreDiatomsDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="PeakDetectPlanktivoreDinoflagellates">
        <While>
            <Arg Name="PeakDetectPlanktivoreDinoflagellatesActive" />
        </While>
        <Syslog Severity="Debug">PeakDetectVsDepth</Syslog>
        <Trigger:PeakDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:PeakDetectVsDepth.detect />
                <String>_.planktivore_dinoflagellates</String>
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.timeWindowPeakReport />
                <Arg Name="TimeWindowPeakReport" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:PeakDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <OutputArg Name="PeakPlanktivoreDinoflagellates">
                <Trigger:PeakDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesDepth">
                <Trigger:PeakDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesTemperature">
                <Trigger:PeakDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesLatitude">
                <Trigger:PeakDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesLongitude">
                <Trigger:PeakDetectVsDepth.peakLongitude />
            </OutputArg>
        </Trigger:PeakDetectVsDepth>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreDinoflagellates" />
            <Arg Name="PeakPlanktivoreDinoflagellatesDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="EdgeDetectPlanktivoreDinoflagellates">
        <While>
            <Arg Name="EdgeDetectPlanktivoreDinoflagellatesActive" />
        </While>
        <Syslog Severity="Debug">EdgeDetectVsDepth</Syslog>
        <Trigger:EdgeDetectVsDepth>
            <Sequence />
            <Setting>
                <Trigger:EdgeDetectVsDepth.detect />
                <String>_.planktivore_dinoflagellates</String>
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.windowLength />
                <Arg Name="LowPassWindowLength" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.medianFilterLength />
                <Arg Name="MedianFilterLen" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.shallowBound />
                <Arg Name="ShallowBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.deepBound />
                <Arg Name="DeepBound" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionAscent />
                <Arg Name="OffPeakFractionVerticalAscent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.offpeakFractionDescent />
                <Arg Name="OffPeakFractionVerticalDescent" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.depthChangeThresh />
                <Arg Name="DepChangeThreshForAttitudeFlip" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.peakThresh />
                <Arg Name="PlanktivoreDinoflagellatesPeakThresh" />
            </Setting>
            <Setting>
                <Trigger:EdgeDetectVsDepth.numLayers />
                <Arg Name="NumberOfLayers" />
            </Setting>
            <OutputArg Name="GoDown">
                <Trigger:EdgeDetectVsDepth.goDown />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellates">
                <Trigger:EdgeDetectVsDepth.peakDetect />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesDepth">
                <Trigger:EdgeDetectVsDepth.peakDepth />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesTemperature">
                <Trigger:EdgeDetectVsDepth.peakTemperature />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesLatitude">
                <Trigger:EdgeDetectVsDepth.peakLatitude />
            </OutputArg>
            <OutputArg Name="PeakPlanktivoreDinoflagellatesLongitude">
                <Trigger:EdgeDetectVsDepth.peakLongitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDinoflagellates">
                <Trigger:EdgeDetectVsDepth.edgeDetect />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDinoflagellatesDepth">
                <Trigger:EdgeDetectVsDepth.edgeDepth />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDinoflagellatesTemperature">
                <Trigger:EdgeDetectVsDepth.edgeTemperature />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDinoflagellatesLatitude">
                <Trigger:EdgeDetectVsDepth.edgeLatitude />
            </OutputArg>
            <OutputArg Name="EdgePlanktivoreDinoflagellatesLongitude">
                <Trigger:EdgeDetectVsDepth.edgeLongitude />
            </OutputArg>
        </Trigger:EdgeDetectVsDepth>
        <Syslog Severity="Info">
            GoDown, PlanktivoreDinoflagellatesPeakThresh, PeakPlanktivoreDinoflagellates, PeakPlanktivoreDinoflagellatesDepth, EdgePlanktivoreDinoflagellates, EdgePlanktivoreDinoflagellatesDepth = 
            <Arg Name="GoDown" />
            <Units:bool />
            , 
            <Arg Name="PlanktivoreDinoflagellatesPeakThresh" />
            <Units:count_per_milliliter />
            , 
            <Arg Name="PeakPlanktivoreDinoflagellates" />
            <Units:count_per_milliliter />
            , 
            <Arg Name="PeakPlanktivoreDinoflagellatesDepth" />
            <Units:meter />
            , 
            <Arg Name="EdgePlanktivoreDinoflagellates" />
            <Units:count_per_milliliter />
            , 
            <Arg Name="EdgePlanktivoreDinoflagellatesDepth" />
            <Units:meter />
        </Syslog>
        <SendData Service="Express">
            <Arg Name="PeakPlanktivoreDinoflagellates" />
            <Arg Name="PeakPlanktivoreDinoflagellatesDepth" />
            <Arg Name="EdgePlanktivoreDinoflagellates" />
            <Arg Name="EdgePlanktivoreDinoflagellatesDepth" />
        </SendData>
    </Aggregate>
    <Aggregate Id="ChlThreshTrigger">
        <While>
            <Arg Name="ChlThreshTriggerActive" />
        </While>
        <Trigger:ValueDetect>
            <Sequence />
            <Setting>
                <Trigger:ValueDetect.detect />
                <Arg Name="PeakChl" />
            </Setting>
            <Setting>
                <Trigger:ValueDetect.lowerThreshold />
                <Arg Name="ChlLowerThresh" />
            </Setting>
            <Setting>
                <Trigger:ValueDetect.upperThreshold />
                <Arg Name="ChlUpperThresh" />
            </Setting>
            <Setting>
                <Trigger:ValueDetect.numProfilesThreshold />
                <Arg Name="NumProfilesThresh" />
            </Setting>
            <OutputArg Name="ChlTriggering">
                <Trigger:ValueDetect.outputValue />
            </OutputArg>
        </Trigger:ValueDetect>
        <Assign>
            <Sequence />
            <Arg Name="TriggeredOnChl" />
            <True />
        </Assign>
        <Syslog Severity="Important">
            Triggered. PeakChl values on 
            <Arg Name="NumProfilesThresh" />
            <Units:count />
             consecutive yo-yo profiles fall in [
            <Arg Name="ChlLowerThresh" />
            <Units:microgram_per_liter />
            <Arg Name="ChlUpperThresh" />
            <Units:microgram_per_liter />
            ] (NaN bound is ignored).
        </Syslog>
    </Aggregate>
</Aggregate>

2025-08-08T21:42:59.308Z,1754689379.308 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectChlActive = 0 bool
2025-08-08T21:42:59.310Z,1754689379.310 [MissionManager](INFO): DefineArg OnDock:science:Science.EdgeDetectChlActive = 0 bool
2025-08-08T21:42:59.332Z,1754689379.332 [MissionManager](INFO): DefineArg OnDock:science:Science.TimeWindowPeakReport = nan min
2025-08-08T21:42:59.334Z,1754689379.334 [MissionManager](INFO): DefineArg OnDock:science:Science.HighestChlPeakReportActive = 0 bool
2025-08-08T21:42:59.339Z,1754689379.339 [MissionManager](INFO): DefineArg OnDock:science:Science.HighestSaltPeakReportActive = 0 bool
2025-08-08T21:42:59.354Z,1754689379.354 [MissionManager](INFO): DefineArg OnDock:science:Science.HighestOilPeakReportActive = 0 bool
2025-08-08T21:42:59.360Z,1754689379.360 [MissionManager](INFO): DefineArg OnDock:science:Science.PatchTracking = 0 bool
2025-08-08T21:42:59.363Z,1754689379.363 [MissionManager](INFO): DefineArg OnDock:science:Science.FilterWidthHorizontal = 3.000000 count
2025-08-08T21:42:59.377Z,1754689379.377 [MissionManager](INFO): DefineArg OnDock:science:Science.NumProfilesSlidingwindow = 100.000000 count
2025-08-08T21:42:59.379Z,1754689379.379 [MissionManager](INFO): DefineArg OnDock:science:Science.OffPeakFractionHorizontal = 80.000000 %
2025-08-08T21:42:59.385Z,1754689379.385 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectNO3Active = 0 bool
2025-08-08T21:42:59.387Z,1754689379.387 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectOilActive = 0 bool
2025-08-08T21:42:59.394Z,1754689379.394 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectFDOMActive = 0 bool
2025-08-08T21:42:59.395Z,1754689379.395 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectSalinityActive = 0 bool
2025-08-08T21:42:59.402Z,1754689379.402 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectPlanktivoreLMavgROIActive = 0 bool
2025-08-08T21:42:59.408Z,1754689379.408 [MissionManager](INFO): DefineArg OnDock:science:Science.EdgeDetectPlanktivoreLMavgROIActive = 0 bool
2025-08-08T21:42:59.410Z,1754689379.410 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectPlanktivoreHMavgROIActive = 0 bool
2025-08-08T21:42:59.420Z,1754689379.420 [MissionManager](INFO): DefineArg OnDock:science:Science.EdgeDetectPlanktivoreHMavgROIActive = 0 bool
2025-08-08T21:42:59.422Z,1754689379.422 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectPlanktivoreDiatomsActive = 0 bool
2025-08-08T21:42:59.428Z,1754689379.428 [MissionManager](INFO): DefineArg OnDock:science:Science.EdgeDetectPlanktivoreDiatomsActive = 0 bool
2025-08-08T21:42:59.430Z,1754689379.430 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectPlanktivoreDinoflagellatesActive = 0 bool
2025-08-08T21:42:59.436Z,1754689379.436 [MissionManager](INFO): DefineArg OnDock:science:Science.EdgeDetectPlanktivoreDinoflagellatesActive = 0 bool
2025-08-08T21:42:59.438Z,1754689379.438 [MissionManager](INFO): DefineArg OnDock:science:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2025-08-08T21:42:59.441Z,1754689379.441 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledAanderaaO2 = 0 bool
2025-08-08T21:42:59.460Z,1754689379.460 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledNeilBrown = 0 bool
2025-08-08T21:42:59.463Z,1754689379.463 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledRBRTridente = 0 bool
2025-08-08T21:42:59.474Z,1754689379.474 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledSeabird = 1 bool
2025-08-08T21:42:59.531Z,1754689379.531 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledWetLabsBB2FL = 1 bool
2025-08-08T21:42:59.534Z,1754689379.534 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledWetLabsSeaOWL_UV_A = 0 bool
2025-08-08T21:42:59.554Z,1754689379.554 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledWetLabsUBAT = 0 bool
2025-08-08T21:42:59.565Z,1754689379.565 [MissionManager](INFO): DefineArg OnDock:science:Science.LowPassWindowLength = 20.000000 count
2025-08-08T21:42:59.567Z,1754689379.567 [MissionManager](INFO): DefineArg OnDock:science:Science.MedianFilterLen = 5.000000 count
2025-08-08T21:42:59.573Z,1754689379.573 [MissionManager](INFO): DefineArg OnDock:science:Science.ShallowBound = nan m
2025-08-08T21:42:59.575Z,1754689379.575 [MissionManager](INFO): DefineArg OnDock:science:Science.DeepBound = nan m
2025-08-08T21:42:59.594Z,1754689379.594 [MissionManager](INFO): DefineArg OnDock:science:Science.DepChangeThreshForAttitudeFlip = 2.000000 m
2025-08-08T21:42:59.602Z,1754689379.602 [MissionManager](INFO): DefineArg OnDock:science:Science.OffPeakFractionVerticalAscent = nan %
2025-08-08T21:42:59.607Z,1754689379.607 [MissionManager](INFO): DefineArg OnDock:science:Science.OffPeakFractionVerticalDescent = nan %
2025-08-08T21:42:59.621Z,1754689379.621 [MissionManager](INFO): DefineArg OnDock:science:Science.ChlPeakThresh = 0.000000 ug/l
2025-08-08T21:42:59.623Z,1754689379.623 [MissionManager](INFO): DefineArg OnDock:science:Science.NumberOfLayers = 1.000000 count
2025-08-08T21:42:59.645Z,1754689379.645 [MissionManager](INFO): DefineArg OnDock:science:Science.ChlThreshTriggerActive = 0 bool
2025-08-08T21:42:59.647Z,1754689379.647 [MissionManager](INFO): DefineArg OnDock:science:Science.ChlLowerThresh = nan ug/l
2025-08-08T21:42:59.665Z,1754689379.665 [MissionManager](INFO): DefineArg OnDock:science:Science.ChlUpperThresh = nan ug/l
2025-08-08T21:42:59.667Z,1754689379.667 [MissionManager](INFO): DefineArg OnDock:science:Science.NumProfilesThresh = 5.000000 count
2025-08-08T21:42:59.673Z,1754689379.673 [MissionManager](INFO): DefineArg OnDock:science:Science.PlanktivoreLMavgROIPeakThresh = 0.000000 count/s
2025-08-08T21:42:59.676Z,1754689379.676 [MissionManager](INFO): DefineArg OnDock:science:Science.PlanktivoreHMavgROIPeakThresh = 0.000000 count/s
2025-08-08T21:42:59.692Z,1754689379.692 [MissionManager](INFO): DefineArg OnDock:science:Science.PlanktivoreDiatomsPeakThresh = 0.000000 count/ml
2025-08-08T21:42:59.694Z,1754689379.694 [MissionManager](INFO): DefineArg OnDock:science:Science.PlanktivoreDinoflagellatesPeakThresh = 0.000000 count/ml
2025-08-08T21:42:59.701Z,1754689379.701 [MissionManager](INFO): DefineOutput OnDock:science:Science.GoDown = 1 bool
2025-08-08T21:42:59.703Z,1754689379.703 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakChl = nan ug/l
2025-08-08T21:42:59.714Z,1754689379.714 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakChlDepth = nan m
2025-08-08T21:42:59.720Z,1754689379.720 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakChlTemperature = nan degC
2025-08-08T21:42:59.723Z,1754689379.723 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakChlLatitude = nan arcdeg
2025-08-08T21:42:59.725Z,1754689379.725 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakChlLongitude = nan arcdeg
2025-08-08T21:42:59.728Z,1754689379.728 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgeChl = nan ug/l
2025-08-08T21:42:59.738Z,1754689379.738 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgeChlDepth = nan m
2025-08-08T21:42:59.741Z,1754689379.741 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgeChlTemperature = nan degC
2025-08-08T21:42:59.743Z,1754689379.743 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgeChlLatitude = nan arcdeg
2025-08-08T21:42:59.758Z,1754689379.758 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgeChlLongitude = nan arcdeg
2025-08-08T21:42:59.764Z,1754689379.764 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakNO3 = nan umol/l
2025-08-08T21:42:59.766Z,1754689379.766 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakNO3Depth = nan m
2025-08-08T21:42:59.770Z,1754689379.770 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakNO3Latitude = nan arcdeg
2025-08-08T21:42:59.789Z,1754689379.789 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakNO3Longitude = nan arcdeg
2025-08-08T21:42:59.791Z,1754689379.791 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakOil = nan kg/m3
2025-08-08T21:42:59.798Z,1754689379.798 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakOilDepth = nan m
2025-08-08T21:42:59.808Z,1754689379.808 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakOilLatitude = nan arcdeg
2025-08-08T21:42:59.811Z,1754689379.811 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakOilLongitude = nan arcdeg
2025-08-08T21:42:59.817Z,1754689379.817 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakFDOM = nan ppb
2025-08-08T21:42:59.824Z,1754689379.824 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakFDOMDepth = nan m
2025-08-08T21:42:59.826Z,1754689379.826 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakFDOMTemperature = nan degC
2025-08-08T21:42:59.844Z,1754689379.844 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakFDOMLatitude = nan arcdeg
2025-08-08T21:42:59.846Z,1754689379.846 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakFDOMLongitude = nan arcdeg
2025-08-08T21:42:59.853Z,1754689379.853 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakSalt = nan psu
2025-08-08T21:42:59.855Z,1754689379.855 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakSaltDepth = nan m
2025-08-08T21:42:59.858Z,1754689379.858 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakSaltTemperature = nan degC
2025-08-08T21:42:59.866Z,1754689379.866 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakSaltLatitude = nan arcdeg
2025-08-08T21:42:59.876Z,1754689379.876 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakSaltLongitude = nan arcdeg
2025-08-08T21:42:59.879Z,1754689379.879 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROI = nan count/s
2025-08-08T21:42:59.885Z,1754689379.885 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROIDepth = nan m
2025-08-08T21:42:59.924Z,1754689379.924 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROITemperature = nan degC
2025-08-08T21:42:59.926Z,1754689379.926 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROILatitude = nan arcdeg
2025-08-08T21:42:59.937Z,1754689379.937 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROILongitude = nan arcdeg
2025-08-08T21:42:59.939Z,1754689379.939 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreLMavgROI = nan count/s
2025-08-08T21:42:59.994Z,1754689379.994 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreLMavgROIDepth = nan m
2025-08-08T21:43:00.010Z,1754689380.010 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreLMavgROITemperature = nan degC
2025-08-08T21:43:00.022Z,1754689380.022 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreLMavgROILatitude = nan arcdeg
2025-08-08T21:43:00.037Z,1754689380.037 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreLMavgROILongitude = nan arcdeg
2025-08-08T21:43:00.039Z,1754689380.039 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROI = nan count/s
2025-08-08T21:43:00.054Z,1754689380.054 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROIDepth = nan m
2025-08-08T21:43:00.064Z,1754689380.064 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROITemperature = nan degC
2025-08-08T21:43:00.067Z,1754689380.067 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROILatitude = nan arcdeg
2025-08-08T21:43:00.081Z,1754689380.081 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROILongitude = nan arcdeg
2025-08-08T21:43:00.092Z,1754689380.092 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreHMavgROI = nan count/s
2025-08-08T21:43:00.094Z,1754689380.094 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreHMavgROIDepth = nan m
2025-08-08T21:43:00.114Z,1754689380.114 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreHMavgROITemperature = nan degC
2025-08-08T21:43:00.120Z,1754689380.120 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreHMavgROILatitude = nan arcdeg
2025-08-08T21:43:00.123Z,1754689380.123 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreHMavgROILongitude = nan arcdeg
2025-08-08T21:43:00.129Z,1754689380.129 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDiatoms = nan count/ml
2025-08-08T21:43:00.131Z,1754689380.131 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDiatomsDepth = nan m
2025-08-08T21:43:00.145Z,1754689380.145 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDiatomsTemperature = nan degC
2025-08-08T21:43:00.147Z,1754689380.147 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDiatomsLatitude = nan arcdeg
2025-08-08T21:43:00.161Z,1754689380.161 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDiatomsLongitude = nan arcdeg
2025-08-08T21:43:00.190Z,1754689380.190 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDiatoms = nan count/ml
2025-08-08T21:43:00.206Z,1754689380.206 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDiatomsDepth = nan m
2025-08-08T21:43:00.230Z,1754689380.230 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDiatomsTemperature = nan degC
2025-08-08T21:43:00.235Z,1754689380.235 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDiatomsLatitude = nan arcdeg
2025-08-08T21:43:00.250Z,1754689380.250 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDiatomsLongitude = nan arcdeg
2025-08-08T21:43:00.256Z,1754689380.256 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellates = nan count/ml
2025-08-08T21:43:00.259Z,1754689380.259 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellatesDepth = nan m
2025-08-08T21:43:00.261Z,1754689380.261 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellatesTemperature = nan degC
2025-08-08T21:43:00.263Z,1754689380.263 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellatesLatitude = nan arcdeg
2025-08-08T21:43:00.278Z,1754689380.278 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellatesLongitude = nan arcdeg
2025-08-08T21:43:00.285Z,1754689380.285 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDinoflagellates = nan count/ml
2025-08-08T21:43:00.287Z,1754689380.287 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDinoflagellatesDepth = nan m
2025-08-08T21:43:00.325Z,1754689380.325 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDinoflagellatesTemperature = nan degC
2025-08-08T21:43:00.336Z,1754689380.336 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDinoflagellatesLatitude = nan arcdeg
2025-08-08T21:43:00.338Z,1754689380.338 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDinoflagellatesLongitude = nan arcdeg
2025-08-08T21:43:00.345Z,1754689380.345 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchChl = nan ug/l
2025-08-08T21:43:00.347Z,1754689380.347 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchChlDepth = nan m
2025-08-08T21:43:00.362Z,1754689380.362 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchChlLatitude = nan arcdeg
2025-08-08T21:43:00.373Z,1754689380.373 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchChlLongitude = nan arcdeg
2025-08-08T21:43:00.375Z,1754689380.375 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchChlDistance = nan m
2025-08-08T21:43:00.382Z,1754689380.382 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchSalt = nan psu
2025-08-08T21:43:00.405Z,1754689380.405 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchSaltDepth = nan m
2025-08-08T21:43:00.407Z,1754689380.407 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchSaltLatitude = nan arcdeg
2025-08-08T21:43:00.419Z,1754689380.419 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchSaltLongitude = nan arcdeg
2025-08-08T21:43:00.456Z,1754689380.456 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchSaltDistance = nan m
2025-08-08T21:43:00.459Z,1754689380.459 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchOil = nan psu
2025-08-08T21:43:00.463Z,1754689380.463 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchOilDepth = nan m
2025-08-08T21:43:00.476Z,1754689380.476 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchOilLatitude = nan arcdeg
2025-08-08T21:43:00.478Z,1754689380.478 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchOilLongitude = nan arcdeg
2025-08-08T21:43:00.481Z,1754689380.481 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchOilDistance = nan m
2025-08-08T21:43:00.483Z,1754689380.483 [MissionManager](INFO): DefineOutput OnDock:science:Science.TriggeredOnChl = 0 bool
2025-08-08T21:43:00.500Z,1754689380.500 [MissionManager](INFO): DefineOutput OnDock:science:Science.ChlTriggering = nan ug/l
2025-08-08T21:43:00.542Z,1754689380.542 [OnDock:science:Science:PeakDetectChl:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-08-08T21:43:00.569Z,1754689380.569 [OnDock:science:Science:EdgeDetectChl:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-08-08T21:43:00.629Z,1754689380.629 [OnDock:science:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-08-08T21:43:00.672Z,1754689380.672 [OnDock:science:Science:PeakDetectNO3:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-08-08T21:43:00.690Z,1754689380.690 [OnDock:science:Science:PeakDetectOil:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-08-08T21:43:00.767Z,1754689380.767 [OnDock:science:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-08-08T21:43:00.821Z,1754689380.821 [OnDock:science:Science:PeakDetectFDOM:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-08-08T21:43:00.860Z,1754689380.860 [OnDock:science:Science:PeakDetectSalinity:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-08-08T21:43:00.904Z,1754689380.904 [OnDock:science:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2025-08-08T21:43:00.951Z,1754689380.951 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-08-08T21:43:00.996Z,1754689380.996 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-08-08T21:43:01.038Z,1754689381.038 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-08-08T21:43:01.063Z,1754689381.063 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-08-08T21:43:01.092Z,1754689381.092 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-08-08T21:43:01.138Z,1754689381.138 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-08-08T21:43:01.280Z,1754689381.280 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2025-08-08T21:43:01.298Z,1754689381.298 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth.
2025-08-08T21:43:01.320Z,1754689381.320 [OnDock:science:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Construct ValueDetect.
2025-08-08T21:43:01.342Z,1754689381.342 [OnDock:L.Execute](DEBUG): Construct Execute.
2025-08-08T21:43:01.345Z,1754689381.345 [OnDock:PeriodicCheck:CheckIP:A.Execute](DEBUG): Construct Execute.
2025-08-08T21:43:01.346Z,1754689381.346 [OnDock:PeriodicCheck:CheckIP:B.Wait](DEBUG): Construct Wait.
2025-08-08T21:43:01.348Z,1754689381.348 [OnDock:N.Docked](DEBUG): Construct.
2025-08-08T21:43:01.348Z,1754689381.348 [OnDock:N.Docked](DEBUG): Initializing internal variables to default values.
2025-08-08T21:43:01.361Z,1754689381.361 [OnDock:Detach:B.Undock](DEBUG): Construct.
2025-08-08T21:43:01.361Z,1754689381.361 [OnDock:Detach:B.Undock](DEBUG): Initializing internal variables to default values.
2025-08-08T21:43:01.425Z,1754689381.425 [MissionManager](DEBUG): 
#   Copyright (c) 2024 MBARI
#   MBARI Proprietary Information. Confidential. All Rights Reserved
#   Unauthorized copying or distribution of this file via any medium is strictly
#   prohibited.
#
#   WARNING - This file contains information whose export is restricted by the
#   Export Administration Act of 1979 (Title 50, U.S.C., App. 2401 et seq.), as
#   amended. Violations of these export laws are subject to severe civil and/or
#   criminal penalties.

mission {
  """
  Wait on dock, communicating when possible
  """

  arguments {
    DockedTime = 8 hour
      """
      Time to stay on dock. Mission timeout will be five minutes longer.
      """

    DetachedTimeout = Dock:Docked.detachTimeout
      """
      Time duration limit for determining if the vehicle is detached from the
      dock.
      """

    RangeTimeout = Dock:Docked.rangeTimeout
      """
      Maximum allowed time without acoustic range.
      """

    TrackingUpdatePeriod = 2 minute
      """
      How long to wait between acoustic queries.
      """

    NumberOfPings = 1 count
      """
      Number of pings requested each time.
      """

    TransponderCode = Dock:Dock.transponderCode
      """
      Transponder Address.
      """

    MaxDepth = BIT:CBIT.stopDepth
      """
      Maximum depth while docked.
      """

    MinAltitude = 5 meter
      """
      Minimum altitude
      """

    MinOffshore = 2 km
      """
      Minimum offshore
      """

    StayOnDock = false
      """
      If true, don't detach from dock at end of mission
      """

    IfconfigInterval = 2 hour
      """
      How long to wait between ifconfig runs
      """

    RunScience = false
      """
      If true, run Science while on the dock.
      """

    # Mission variables (do not change)
    MissionTimeout = DockedTime
      """
      Mission timeout (local variable, do not change)
      """
  }

  timeout duration=MissionTimeout

  insert Insert/StandardEnvelopes.tl
  assign in sequence StandardEnvelopes:MinAltitude = MinAltitude
  assign in sequence StandardEnvelopes:MaxDepth = MaxDepth
  assign in sequence StandardEnvelopes:MinOffshore = MinOffshore
  # End docking 5 minutes before end of mission to allow clean undock
  assign in sequence MissionTimeout = DockedTime + 5 minute

  insert Insert/BackseatDriver.tl

  insert Insert/PowerOnly.tl

  # Send data when connection exists
  aggregate dataRead {
    run while ( true )

    readDatum {
      Universal:platform_communications
    }

    behavior Guidance:Wait {
      run in sequence

      set duration = 5 minute
    }
  }

  aggregate science {
    run in parallel

    break if ( not RunScience )

    insert Insert/Science.tl
  }

  behavior Estimation:TrackAcousticContact {
    run in parallel

    set contactLabelSetting = TransponderCode
    set numberOfSamplesSetting = NumberOfPings
    set updatePeriodSetting = TrackingUpdatePeriod
  }

  syslog important "Restarting logs"

  behavior Guidance:Execute {
    run in sequence

    set command = "restart logs"
  }

  aggregate PeriodicCheck {
    run in parallel

    aggregate CheckIP {
      run in sequence

      behavior Guidance:Execute {
        run in sequence

        set command = "! ifconfig"
      }

      behavior Guidance:Wait {
        run in sequence

        set duration = IfconfigInterval
      }
    }
  }

  behavior Dock:Docked {
    run in sequence

    timeout duration=DockedTime

    set detachTimeout = DetachedTimeout
    set rangeTimeout = RangeTimeout
  }

  # Undock cleanly, instead of relying on DefaultWithUndock to come next
  aggregate Detach {
    run in sequence

    break if ( StayOnDock == true )

    syslog important "Mission ending, breaking off. Range: "
         + Estimation:TrackAcousticContact.range_to_contact~meter + "."

    behavior Dock:Undock {
      run in sequence
    }
  }
}


2025-08-08T21:43:01.427Z,1754689381.427 [CommandExec](IMPORTANT): Running ./Missions/Engineering/OnDock.tl
2025-08-08T21:43:01.580Z,1754689381.580 [MissionManager](IMPORTANT): Started mission OnDock
2025-08-08T21:43:01.581Z,1754689381.581 [OnDock] Running Loop=1
2025-08-08T21:43:01.581Z,1754689381.581 [OnDock](DEBUG): Aggregate::initialize OnDock
2025-08-08T21:43:01.581Z,1754689381.581 [OnDock:StandardEnvelopes] Running Loop=1
2025-08-08T21:43:01.581Z,1754689381.581 [OnDock:StandardEnvelopes](DEBUG): Aggregate::initialize OnDock:StandardEnvelopes
2025-08-08T21:43:01.581Z,1754689381.581 [OnDock:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-08-08T21:43:01.581Z,1754689381.581 [OnDock:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2025-08-08T21:43:01.581Z,1754689381.581 [OnDock:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-08-08T21:43:01.581Z,1754689381.581 [OnDock:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2025-08-08T21:43:01.582Z,1754689381.582 [OnDock:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-08-08T21:43:01.582Z,1754689381.582 [OnDock:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2025-08-08T21:43:01.582Z,1754689381.582 [OnDock:BackseatDriver] Running Loop=1
2025-08-08T21:43:01.582Z,1754689381.582 [OnDock:BackseatDriver](DEBUG): Aggregate::initialize OnDock:BackseatDriver
2025-08-08T21:43:01.582Z,1754689381.582 [OnDock:BackseatDriver:A.BackseatDriver] Running Loop=1
2025-08-08T21:43:01.582Z,1754689381.582 [OnDock:PowerOnly] Running Loop=1
2025-08-08T21:43:01.582Z,1754689381.582 [OnDock:PowerOnly](DEBUG): Aggregate::initialize OnDock:PowerOnly
2025-08-08T21:43:01.582Z,1754689381.582 [OnDock:PowerOnly:A] Running Loop=1
2025-08-08T21:43:01.582Z,1754689381.582 [OnDock:PowerOnly:B] Running Loop=1
2025-08-08T21:43:01.582Z,1754689381.582 [OnDock:PowerOnly:C] Running Loop=1
2025-08-08T21:43:01.582Z,1754689381.582 [OnDock:PowerOnly:D] Running Loop=1
2025-08-08T21:43:01.583Z,1754689381.583 [OnDock:PowerOnly:E.Wait] Running Loop=1
2025-08-08T21:43:01.583Z,1754689381.583 [OnDock:PowerOnly:E.Wait](DEBUG): Initialize Wait Component.
2025-08-08T21:43:01.583Z,1754689381.583 [OnDock:dataRead] Running Loop=1
2025-08-08T21:43:01.583Z,1754689381.583 [OnDock:dataRead](DEBUG): Aggregate::initialize OnDock:dataRead
2025-08-08T21:43:01.583Z,1754689381.583 [OnDock:dataRead:A] Running Loop=1
2025-08-08T21:43:01.583Z,1754689381.583 [OnDock:science] Running Loop=1
2025-08-08T21:43:01.583Z,1754689381.583 [OnDock:science](DEBUG): Aggregate::initialize OnDock:science
2025-08-08T21:43:01.583Z,1754689381.583 [OnDock:science:Science] Running Loop=1
2025-08-08T21:43:01.583Z,1754689381.583 [OnDock:science:Science](DEBUG): Aggregate::initialize OnDock:science:Science
2025-08-08T21:43:01.583Z,1754689381.583 [OnDock:science:Science:A] Running Loop=1
2025-08-08T21:43:01.583Z,1754689381.583 [OnDock:science:Science:B] Running Loop=1
2025-08-08T21:43:01.584Z,1754689381.584 [OnDock:science:Science:C] Running Loop=1
2025-08-08T21:43:01.604Z,1754689381.604 [OnDock:science:Science:D] Running Loop=1
2025-08-08T21:43:01.604Z,1754689381.604 [OnDock:science:Science:E] Running Loop=1
2025-08-08T21:43:01.604Z,1754689381.604 [OnDock:science:Science:F] Running Loop=1
2025-08-08T21:43:01.604Z,1754689381.604 [OnDock:science:Science:Read_Oil] Running Loop=1
2025-08-08T21:43:01.604Z,1754689381.604 [OnDock:science:Science:PeakDetectChl] Running Loop=1
2025-08-08T21:43:01.604Z,1754689381.604 [OnDock:science:Science:PeakDetectChl](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectChl
2025-08-08T21:43:01.604Z,1754689381.604 [OnDock:science:Science:PeakDetectChl:A] Running Loop=1
2025-08-08T21:43:01.604Z,1754689381.604 [OnDock:science:Science:EdgeDetectChl] Running Loop=1
2025-08-08T21:43:01.605Z,1754689381.605 [OnDock:science:Science:EdgeDetectChl](DEBUG): Aggregate::initialize OnDock:science:Science:EdgeDetectChl
2025-08-08T21:43:01.605Z,1754689381.605 [OnDock:science:Science:EdgeDetectChl:A] Running Loop=1
2025-08-08T21:43:01.605Z,1754689381.605 [OnDock:science:Science:HighestChlPeakReport] Running Loop=1
2025-08-08T21:43:01.605Z,1754689381.605 [OnDock:science:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize OnDock:science:Science:HighestChlPeakReport
2025-08-08T21:43:01.605Z,1754689381.605 [OnDock:science:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-08-08T21:43:01.605Z,1754689381.605 [OnDock:science:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-08-08T21:43:01.606Z,1754689381.606 [OnDock:science:Science:PeakDetectNO3] Running Loop=1
2025-08-08T21:43:01.606Z,1754689381.606 [OnDock:science:Science:PeakDetectNO3](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectNO3
2025-08-08T21:43:01.606Z,1754689381.606 [OnDock:science:Science:PeakDetectNO3:A] Running Loop=1
2025-08-08T21:43:01.606Z,1754689381.606 [OnDock:science:Science:PeakDetectOil] Running Loop=1
2025-08-08T21:43:01.606Z,1754689381.606 [OnDock:science:Science:PeakDetectOil](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectOil
2025-08-08T21:43:01.606Z,1754689381.606 [OnDock:science:Science:PeakDetectOil:A] Running Loop=1
2025-08-08T21:43:01.606Z,1754689381.606 [OnDock:science:Science:HighestOilPeakReport] Running Loop=1
2025-08-08T21:43:01.606Z,1754689381.606 [OnDock:science:Science:HighestOilPeakReport](DEBUG): Aggregate::initialize OnDock:science:Science:HighestOilPeakReport
2025-08-08T21:43:01.606Z,1754689381.606 [OnDock:science:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-08-08T21:43:01.606Z,1754689381.606 [OnDock:science:Science:HighestOilPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-08-08T21:43:01.607Z,1754689381.607 [OnDock:science:Science:PeakDetectFDOM] Running Loop=1
2025-08-08T21:43:01.607Z,1754689381.607 [OnDock:science:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectFDOM
2025-08-08T21:43:01.607Z,1754689381.607 [OnDock:science:Science:PeakDetectFDOM:A] Running Loop=1
2025-08-08T21:43:01.607Z,1754689381.607 [OnDock:science:Science:PeakDetectSalinity] Running Loop=1
2025-08-08T21:43:01.607Z,1754689381.607 [OnDock:science:Science:PeakDetectSalinity](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectSalinity
2025-08-08T21:43:01.607Z,1754689381.607 [OnDock:science:Science:PeakDetectSalinity:A] Running Loop=1
2025-08-08T21:43:01.607Z,1754689381.607 [OnDock:science:Science:HighestSaltPeakReport] Running Loop=1
2025-08-08T21:43:01.616Z,1754689381.616 [OnDock:science:Science:HighestSaltPeakReport](DEBUG): Aggregate::initialize OnDock:science:Science:HighestSaltPeakReport
2025-08-08T21:43:01.616Z,1754689381.616 [OnDock:science:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Running Loop=1
2025-08-08T21:43:01.616Z,1754689381.616 [OnDock:science:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2025-08-08T21:43:01.617Z,1754689381.617 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI] Running Loop=1
2025-08-08T21:43:01.617Z,1754689381.617 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectPlanktivoreLMavgROI
2025-08-08T21:43:01.617Z,1754689381.617 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI:A] Running Loop=1
2025-08-08T21:43:01.617Z,1754689381.617 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI] Running Loop=1
2025-08-08T21:43:01.617Z,1754689381.617 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI
2025-08-08T21:43:01.617Z,1754689381.617 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI:A] Running Loop=1
2025-08-08T21:43:01.617Z,1754689381.617 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI] Running Loop=1
2025-08-08T21:43:01.617Z,1754689381.617 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectPlanktivoreHMavgROI
2025-08-08T21:43:01.617Z,1754689381.617 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI:A] Running Loop=1
2025-08-08T21:43:01.618Z,1754689381.618 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI] Running Loop=1
2025-08-08T21:43:01.618Z,1754689381.618 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI](DEBUG): Aggregate::initialize OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI
2025-08-08T21:43:01.618Z,1754689381.618 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI:A] Running Loop=1
2025-08-08T21:43:01.618Z,1754689381.618 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms] Running Loop=1
2025-08-08T21:43:01.618Z,1754689381.618 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectPlanktivoreDiatoms
2025-08-08T21:43:01.618Z,1754689381.618 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms:A] Running Loop=1
2025-08-08T21:43:01.618Z,1754689381.618 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms] Running Loop=1
2025-08-08T21:43:01.618Z,1754689381.618 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms](DEBUG): Aggregate::initialize OnDock:science:Science:EdgeDetectPlanktivoreDiatoms
2025-08-08T21:43:01.618Z,1754689381.618 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms:A] Running Loop=1
2025-08-08T21:43:01.618Z,1754689381.618 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates] Running Loop=1
2025-08-08T21:43:01.619Z,1754689381.619 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates
2025-08-08T21:43:01.619Z,1754689381.619 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates:A] Running Loop=1
2025-08-08T21:43:01.619Z,1754689381.619 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates] Running Loop=1
2025-08-08T21:43:01.619Z,1754689381.619 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::initialize OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates
2025-08-08T21:43:01.619Z,1754689381.619 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates:A] Running Loop=1
2025-08-08T21:43:01.619Z,1754689381.619 [OnDock:science:Science:ChlThreshTrigger] Running Loop=1
2025-08-08T21:43:01.622Z,1754689381.622 [OnDock:science:Science:ChlThreshTrigger](DEBUG): Aggregate::initialize OnDock:science:Science:ChlThreshTrigger
2025-08-08T21:43:01.622Z,1754689381.622 [OnDock:science:Science:ChlThreshTrigger:A.ValueDetect] Running Loop=1
2025-08-08T21:43:01.622Z,1754689381.622 [OnDock:science:Science:ChlThreshTrigger:A.ValueDetect](INFO): Initialize.
2025-08-08T21:43:01.623Z,1754689381.623 [OnDock:science:Science:OceanCurrent] Running Loop=1
2025-08-08T21:43:01.623Z,1754689381.623 [OnDock:science:Science:OceanCurrent](DEBUG): Aggregate::initialize OnDock:science:Science:OceanCurrent
2025-08-08T21:43:01.623Z,1754689381.623 [OnDock:science:Science:OceanCurrent:A.] Running Loop=1
2025-08-08T21:43:01.623Z,1754689381.623 [OnDock:science:Science:OceanCurrent:A.](INFO): Initializing CurrentEstimator.
2025-08-08T21:43:01.623Z,1754689381.623 [OnDock:J.] Running Loop=1
2025-08-08T21:43:01.623Z,1754689381.623 [OnDock:J.](INFO): Initializing TrackAcousticContact.
2025-08-08T21:43:01.623Z,1754689381.623 [OnDock:PeriodicCheck] Running Loop=1
2025-08-08T21:43:01.623Z,1754689381.623 [OnDock:PeriodicCheck](DEBUG): Aggregate::initialize OnDock:PeriodicCheck
2025-08-08T21:43:01.632Z,1754689381.632 [OnDock:PeriodicCheck:CheckIP] Running Loop=1
2025-08-08T21:43:01.633Z,1754689381.633 [OnDock:PeriodicCheck:CheckIP](DEBUG): Aggregate::initialize OnDock:PeriodicCheck:CheckIP
2025-08-08T21:43:01.633Z,1754689381.633 [OnDock:PeriodicCheck:CheckIP:A.Execute] Running Loop=1
2025-08-08T21:43:01.634Z,1754689381.634 [OnDock:B] Running Loop=1
2025-08-08T21:43:01.635Z,1754689381.635 [OnDock:PeriodicCheck] Running Loop=1
2025-08-08T21:43:01.636Z,1754689381.636 [OnDock:PeriodicCheck:CheckIP:A.Execute](INFO): Executing command ! ifconfig
2025-08-08T21:43:01.637Z,1754689381.637 [OnDock:PeriodicCheck:CheckIP:A.Execute] Stopped
2025-08-08T21:43:01.637Z,1754689381.637 [OnDock:PeriodicCheck:CheckIP:B.Wait] Running Loop=1
2025-08-08T21:43:01.637Z,1754689381.637 [OnDock:PeriodicCheck:CheckIP:B.Wait](DEBUG): Initialize Wait Component.
2025-08-08T21:43:01.637Z,1754689381.637 [OnDock:J.] Running Loop=1
2025-08-08T21:43:01.645Z,1754689381.645 [CommandExec](IMPORTANT): got command ! ifconfig
2025-08-08T21:43:01.671Z,1754689381.671 [OnDock:science] Stopped
2025-08-08T21:43:01.671Z,1754689381.671 [OnDock:science](DEBUG): Aggregate::uninitialize OnDock:science
2025-08-08T21:43:01.671Z,1754689381.671 [OnDock:science:Science] Stopped
2025-08-08T21:43:01.676Z,1754689381.676 [OnDock:science:Science](DEBUG): Aggregate::uninitialize OnDock:science:Science
2025-08-08T21:43:01.676Z,1754689381.676 [OnDock:science:Science:A] Stopped
2025-08-08T21:43:01.676Z,1754689381.676 [OnDock:science:Science:B] Stopped
2025-08-08T21:43:01.677Z,1754689381.677 [OnDock:science:Science:C] Stopped
2025-08-08T21:43:01.677Z,1754689381.677 [OnDock:science:Science:D] Stopped
2025-08-08T21:43:01.677Z,1754689381.677 [OnDock:science:Science:E] Stopped
2025-08-08T21:43:01.677Z,1754689381.677 [OnDock:science:Science:F] Stopped
2025-08-08T21:43:01.677Z,1754689381.677 [OnDock:science:Science:Read_Oil] Stopped
2025-08-08T21:43:01.677Z,1754689381.677 [OnDock:science:Science:OceanCurrent] Stopped
2025-08-08T21:43:01.677Z,1754689381.677 [OnDock:science:Science:OceanCurrent](DEBUG): Aggregate::uninitialize OnDock:science:Science:OceanCurrent
2025-08-08T21:43:01.677Z,1754689381.677 [OnDock:science:Science:OceanCurrent:A.] Stopped
2025-08-08T21:43:01.678Z,1754689381.678 [OnDock:science:Science:PeakDetectChl] Stopped
2025-08-08T21:43:01.678Z,1754689381.678 [OnDock:science:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectChl
2025-08-08T21:43:01.678Z,1754689381.678 [OnDock:science:Science:PeakDetectChl:A] Stopped
2025-08-08T21:43:01.678Z,1754689381.678 [OnDock:science:Science:EdgeDetectChl] Stopped
2025-08-08T21:43:01.678Z,1754689381.678 [OnDock:science:Science:EdgeDetectChl](DEBUG): Aggregate::uninitialize OnDock:science:Science:EdgeDetectChl
2025-08-08T21:43:01.678Z,1754689381.678 [OnDock:science:Science:EdgeDetectChl:A] Stopped
2025-08-08T21:43:01.679Z,1754689381.679 [OnDock:science:Science:HighestChlPeakReport] Stopped
2025-08-08T21:43:01.679Z,1754689381.679 [OnDock:science:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize OnDock:science:Science:HighestChlPeakReport
2025-08-08T21:43:01.679Z,1754689381.679 [OnDock:science:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped
2025-08-08T21:43:01.679Z,1754689381.679 [OnDock:science:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-08-08T21:43:01.679Z,1754689381.679 [OnDock:science:Science:PeakDetectNO3] Stopped
2025-08-08T21:43:01.679Z,1754689381.679 [OnDock:science:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectNO3
2025-08-08T21:43:01.679Z,1754689381.679 [OnDock:science:Science:PeakDetectNO3:A] Stopped
2025-08-08T21:43:01.680Z,1754689381.680 [OnDock:science:Science:PeakDetectOil] Stopped
2025-08-08T21:43:01.692Z,1754689381.692 [OnDock:science:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectOil
2025-08-08T21:43:01.692Z,1754689381.692 [OnDock:science:Science:PeakDetectOil:A] Stopped
2025-08-08T21:43:01.693Z,1754689381.693 [OnDock:science:Science:HighestOilPeakReport] Stopped
2025-08-08T21:43:01.693Z,1754689381.693 [OnDock:science:Science:HighestOilPeakReport](DEBUG): Aggregate::uninitialize OnDock:science:Science:HighestOilPeakReport
2025-08-08T21:43:01.693Z,1754689381.693 [OnDock:science:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Stopped
2025-08-08T21:43:01.693Z,1754689381.693 [OnDock:science:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-08-08T21:43:01.693Z,1754689381.693 [OnDock:science:Science:PeakDetectFDOM] Stopped
2025-08-08T21:43:01.693Z,1754689381.693 [OnDock:science:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectFDOM
2025-08-08T21:43:01.693Z,1754689381.693 [OnDock:science:Science:PeakDetectFDOM:A] Stopped
2025-08-08T21:43:01.693Z,1754689381.693 [OnDock:science:Science:PeakDetectSalinity] Stopped
2025-08-08T21:43:01.694Z,1754689381.694 [OnDock:science:Science:PeakDetectSalinity](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectSalinity
2025-08-08T21:43:01.694Z,1754689381.694 [OnDock:science:Science:PeakDetectSalinity:A] Stopped
2025-08-08T21:43:01.694Z,1754689381.694 [OnDock:science:Science:HighestSaltPeakReport] Stopped
2025-08-08T21:43:01.694Z,1754689381.694 [OnDock:science:Science:HighestSaltPeakReport](DEBUG): Aggregate::uninitialize OnDock:science:Science:HighestSaltPeakReport
2025-08-08T21:43:01.694Z,1754689381.694 [OnDock:science:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Stopped
2025-08-08T21:43:01.694Z,1754689381.694 [OnDock:science:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2025-08-08T21:43:01.694Z,1754689381.694 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI] Stopped
2025-08-08T21:43:01.695Z,1754689381.695 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectPlanktivoreLMavgROI
2025-08-08T21:43:01.695Z,1754689381.695 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI:A] Stopped
2025-08-08T21:43:01.695Z,1754689381.695 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI] Stopped
2025-08-08T21:43:01.695Z,1754689381.695 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI
2025-08-08T21:43:01.695Z,1754689381.695 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI:A] Stopped
2025-08-08T21:43:01.695Z,1754689381.695 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI] Stopped
2025-08-08T21:43:01.695Z,1754689381.695 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectPlanktivoreHMavgROI
2025-08-08T21:43:01.695Z,1754689381.695 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI:A] Stopped
2025-08-08T21:43:01.704Z,1754689381.704 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI] Stopped
2025-08-08T21:43:01.704Z,1754689381.704 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI](DEBUG): Aggregate::uninitialize OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI
2025-08-08T21:43:01.704Z,1754689381.704 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI:A] Stopped
2025-08-08T21:43:01.704Z,1754689381.704 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms] Stopped
2025-08-08T21:43:01.704Z,1754689381.704 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectPlanktivoreDiatoms
2025-08-08T21:43:01.705Z,1754689381.705 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms:A] Stopped
2025-08-08T21:43:01.705Z,1754689381.705 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms] Stopped
2025-08-08T21:43:01.705Z,1754689381.705 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms](DEBUG): Aggregate::uninitialize OnDock:science:Science:EdgeDetectPlanktivoreDiatoms
2025-08-08T21:43:01.705Z,1754689381.705 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms:A] Stopped
2025-08-08T21:43:01.705Z,1754689381.705 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates] Stopped
2025-08-08T21:43:01.705Z,1754689381.705 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates
2025-08-08T21:43:01.705Z,1754689381.705 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates:A] Stopped
2025-08-08T21:43:01.706Z,1754689381.706 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates] Stopped
2025-08-08T21:43:01.706Z,1754689381.706 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::uninitialize OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates
2025-08-08T21:43:01.706Z,1754689381.706 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates:A] Stopped
2025-08-08T21:43:01.706Z,1754689381.706 [OnDock:science:Science:ChlThreshTrigger] Stopped
2025-08-08T21:43:01.706Z,1754689381.706 [OnDock:science:Science:ChlThreshTrigger](DEBUG): Aggregate::uninitialize OnDock:science:Science:ChlThreshTrigger
2025-08-08T21:43:01.706Z,1754689381.706 [OnDock:science:Science:ChlThreshTrigger:A.ValueDetect] Stopped
2025-08-08T21:43:01.706Z,1754689381.706 [OnDock:science:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Uninitialize.
2025-08-08T21:43:01.706Z,1754689381.706 [OnDock:dataRead] Running Loop=1
2025-08-08T21:43:01.707Z,1754689381.707 [OnDock:dataRead:A](DEBUG): Initialize ReadDataComponent to sense platform_communications
2025-08-08T21:43:01.707Z,1754689381.707 [OnDock:PowerOnly] Running Loop=1
2025-08-08T21:43:01.716Z,1754689381.716 [OnDock:PowerOnly:D] Stopped
2025-08-08T21:43:01.716Z,1754689381.716 [OnDock:PowerOnly:C] Stopped
2025-08-08T21:43:01.716Z,1754689381.716 [OnDock:PowerOnly:B] Stopped
2025-08-08T21:43:01.716Z,1754689381.716 [OnDock:PowerOnly:A] Stopped
2025-08-08T21:43:01.716Z,1754689381.716 [OnDock:BackseatDriver] Running Loop=1
2025-08-08T21:43:01.717Z,1754689381.717 [OnDock:B] Stopped
2025-08-08T21:43:01.717Z,1754689381.717 [OnDock:C] Running Loop=1
2025-08-08T21:43:01.717Z,1754689381.717 [OnDock:StandardEnvelopes] Running Loop=1
2025-08-08T21:43:01.717Z,1754689381.717 [OnDock:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2025-08-08T21:43:01.718Z,1754689381.718 [OnDock:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2025-08-08T21:43:01.719Z,1754689381.719 [OnDock:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2025-08-08T21:43:01.728Z,1754689381.728 [OnDock:StandardEnvelopes:A.AltitudeEnvelope](IMPORTANT): Altitude envelope ACTIVE. Altitude:0.100000m. At depth:70.977936m.
2025-08-08T21:43:01.819Z,1754689381.819 [CommandExec](IMPORTANT): eth0      Link encap:Ethernet  HWaddr 50:2D:F4:07:45:37  
            UP BROADCAST RUNNING MULTICAST  MTU:1500  Metric:1
            RX packets:24819 errors:0 dropped:0 overruns:0 frame:0
            TX packets:32195 errors:0 dropped:0 overruns:0 carrier:0
            collisions:480 txqueuelen:1000 
            RX bytes:7826525 (7.4 Mb)  TX bytes:9485280 (9.0 Mb)
            Interrupt:29 
  
  lo        Link encap:Local Loopback  
            inet addr:127.0.0.1  Mask:255.0.0.0
            UP LOOPBACK RUNNING MULTICAST  MTU:16436  Metric:1
            RX packets:1199 errors:0 dropped:0 overruns:0 frame:0
            TX packets:1199 errors:0 dropped:0 overruns:0 carrier:0
            collisions:0 txqueuelen:0 
            RX bytes:118614 (115.8 Kb)  TX bytes:118614 (115.8 Kb)
  
  
2025-08-08T21:43:02.508Z,1754689382.508 [OnDock:C] Stopped
2025-08-08T21:43:02.508Z,1754689382.508 [OnDock:D] Running Loop=1
2025-08-08T21:43:02.855Z,1754689382.855 [OnDock:D] Stopped
2025-08-08T21:43:02.855Z,1754689382.855 [OnDock:E] Running Loop=1
2025-08-08T21:43:03.344Z,1754689383.344 [OnDock:E] Stopped
2025-08-08T21:43:03.344Z,1754689383.344 [OnDock:K] Running Loop=1
2025-08-08T21:43:03.650Z,1754689383.650 [OnDock:K](IMPORTANT): Restarting logs
2025-08-08T21:43:03.650Z,1754689383.650 [OnDock:K] Stopped
2025-08-08T21:43:03.651Z,1754689383.651 [OnDock:L.Execute] Running Loop=1
2025-08-08T21:43:04.055Z,1754689384.055 [OnDock:L.Execute](INFO): Executing command restart logs